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Research Papers

Dynamics of Mechanical Systems and the Generalized Free-Body Diagram—Part II: Imposition of Constraints

[+] Author and Article Information
József Kövecses

Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, 817 Sherbrooke St. West, Montréal, Québec, H3A 2K6, Canadajozsef.kovecses@mcgill.ca

We have to note that these conditions are valid in particular configurations only, e.g., when the unilateral contacts are closed. These velocity and acceleration level conditions cannot just simply be derived from configuration level inequalities via time differentiation.

As we discussed in Part I, this example represents a meaningful physical system, e.g., a robot arm with two prismatic joints.

J. Appl. Mech 75(6), 061013 (Aug 20, 2008) (8 pages) doi:10.1115/1.2965373 History: Received November 25, 2007; Revised May 21, 2008; Published August 20, 2008

In this part of the work we present some applications of the formulation developed in Part I (Kövecses, 2008, “Dynamics of Mechanical Systems and the Generalized Free-Body Diagram—Part I: General Formulation  ,” ASME J. Appl. Mech., 75(6), p. 061012) for the generalized free-body diagram in configuration space. This involves the specification and imposition of constraint conditions, which were identified as Step 2 of the analysis of a mechanical system in Part I. We will particularly consider bilaterally and unilaterally constrained systems, where constraints are realized via ideal or nonideal interfaces. We also look at the general case where the constraint configuration is possibly redundant. The results represent novel forms of dynamics models for mechanical systems, and can offer the possibility to gain more insight for simulation, design, and control.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 1

Illustration of the effects of nonideal interfaces

Grahic Jump Location
Figure 2

A generalized particle moving on a circular block

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