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Indexed by:期刊论文

Date of Publication:2012-01-01

Journal:Theoretical and Applied Mechanics Letters

Included Journals:Scopus

Volume:2

Issue:6

Page Number:063002-

ISSN No.:20950349

Abstract:This paper deals with the modeling of a multibody system in which some pairs of bodies are connected by more than one joints with the same kinematic constraints. In such system, the redundant joints must be removed out artificially to ensure the solvable condition of the equations of motion being satisfied. It is believed but not obvious that the redundant joints have no effect on the system acceleration. We give a strict positive proof of this argument and present a method to avoid the ambiguity in the reaction forces of redundant joints through contact analysis of joints. ? 2012 The Chinese Society of Theoretical and Applied Mechanics