Constraint Reaction Forces and Lagrange Multipliers in Multi-Body Systems

Wen Li Yao; Yong Sheng Ren

doi:10.4028/www.scientific.net/AMR.97-101.2824

Paper Titles

Flex Gradient Optimization on Stiffened Steel Plate of Profiled Plate Rubber Support
p.2806

3D Loading Path-Generating Method for FEM Simulation of Incremental Sheet Metal Forming Process
p.2810

The Study on Vibration of Marine Riser under Deep Water
p.2816

Vibration Isolation Study on Coupled Vibration of Load Floor Caused by Iron Ore Pelletizing Machine on it
p.2820

Constraint Reaction Forces and Lagrange Multipliers in Multi-Body Systems
p.2824

Simulation of Failure in the Refractory Lining of Coke Dry Quenching
p.2828

Modeling Method of Crawler Crane Based on Open Source Engines
p.2832

A FEM Formulation for Flexible Multi-Body System Dynamic Analysis
p.2836

Motion Planning of Tomato Harvesting Manipulators with 7 DOF
p.2840

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 97-101Constraint Reaction Forces and Lagrange...

Constraint Reaction Forces and Lagrange Multipliers in Multi-Body Systems

Abstract:

The study performs the relation between the Lagrange multipliers and the constraint reaction forces in the multi-body systems. It helps to establish a simple and effective method to deal with the non-smooth factors including friction, contact and collision in multi-body systems. First, a general expression calculating the ideal constraint reaction forces is described by a form of complete Cartesian reference coordinate in a discrete dynamical system. Then, an explicit expression is given in the form of independent general generalized coordinates for a multi-body system. A condition under which the constraint reaction forces can be one-to-one corresponding to Lagrange multipliers is discussed. An example is used to demonstrate the process to realize the condition and the effectiveness of this method.