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论文类型：期刊论文

发表时间：2012-01-01

发表刊物：Theoretical and Applied Mechanics Letters

收录刊物：Scopus

卷号：2

期号：6

页面范围：063002-

ISSN号：20950349

摘要：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