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기술보고서

기술보고서 게시판 내용
타이틀	Forces Associated with Nonlinear Nonholonomic Constraint Equations
저자	Roithmayr, Carlos M.;; Hodges, Dewey H.
Keyword	IDENTIFYING;; MOTION;; NONHOLONOMIC EQUATIONS;; NONLINEAR EQUATIONS;; NONLINEARITY;; RIGID STRUCTURES
URL	http://hdl.handle.net/2060/20100019151
보고서번호	LF99-5423
발행년도	2010
출처	NTRS (NASA Technical Report Server)
ABSTRACT	A concise method has been formulated for identifying a set of forces needed to constrain the behavior of a mechanical system, modeled as a set of particles and rigid bodies, when it is subject to motion constraints described by nonholonomic equations that are inherently nonlinear in velocity. An expression in vector form is obtained for each force;; a direction is determined, together with the point of application. This result is a consequence of expressing constraint equations in terms of dot products of vectors rather than in the usual way, which is entirely in terms of scalars and matrices. The constraint forces in vector form are used together with two new analytical approaches for deriving equations governing motion of a system subject to such constraints. If constraint forces are of interest they can be brought into evidence in explicit dynamical equations by employing the well-known nonholonomic partial velocities associated with Kane''s method;; if they are not of interest, equations can be formed instead with the aid of vectors introduced here as nonholonomic partial accelerations. When the analyst requires only the latter, smaller set of equations, they can be formed directly;; it is not necessary to expend the labor to form the former, larger set first and subsequently perform matrix multiplications.