Kane’s Equations With Undetermined Multipliers—Application to Constrained Multibody Systems

[+] Author and Article Information
J. T. Wang, R. L. Huston

Department of Mechanical and Industrial Engineering, University of Cincinnati, Cincinnati, Ohio 45221-0072

J. Appl. Mech 54(2), 424-429 (Jun 01, 1987) (6 pages) doi:10.1115/1.3173031 History: Received August 15, 1986; Revised October 29, 1986; Online July 21, 2009


A procedure for automated analysis of constrained multibody systems is presented. The procedure is based upon Kane’s equations and the concept of undetermined multipliers. It is applicable with both free and controlled systems. As with Lagrange’s equations, the multipliers are identified as scalar components of constraining forces and moments. The advantage of using Kane’s equations is that they are ideally suited for development of algorithms for numerical analyses. Also, generalized speeds and quasi-coordinates are readily accommodated. A simple example illustrating the concepts is presented.

Copyright © 1987 by ASME
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