A DIFFERENTIABLE NULL SPACE METHOD FOR CONSTRAINED DYNAMIC ANALYSIS

作     者：LIANG, CG LANCE, GM 

作者机构：General Motors Research Laboratories Warren MI Center for Computer Aided Design Department of Mechanical Engineering College of Engineering The University of Iowa Iowa City IA 52242 

出 版 物：《JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME》 (J Mech Des, Trans ASME)

年 卷 期：1987年第109卷第3期

页      面：405-411页

核心收录：

学科分类：08[工学] 0802[工学-机械工程] 

主　　题：Dynamic response Dynamic analysis 

摘      要：A geometric approach to the solution of the dynamic response of constrained mechanical systems is proposed. A continuous and differentiable basis of the constraint null space is automatically generated using the Gram-Schmidt process. The independent coordinates are obtained by transforming the physical velocity coordinates to the tangent hyperplane of the constraint surface. As a result the independent coordinates lie on the constraint surface and no constraint violation control is necessary.