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Selective Generalized Coordinates Partitioning Method for Multibody Systems With Non-Holonomic Constraints

[+] Author Affiliations
Ayman A. Nada, Abdullateef H. Bashiri

Jazan University, Jazan, Saudi Arabia

Paper No. DETC2017-67476, pp. V006T10A004; 11 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5820-2
  • Copyright © 2017 by ASME


The goal of this research work is to extend the method of generalized coordinates partitioning to include both holonomic and nonholonomic constraints. Furthermore, the paper proposes a method for selective coordinates for integration instead of identifying a set of independent coordinates at each integration step. The effectiveness of the proposed method is presented and compared with full-coordinates integration as well as generalized co-ordinates partitioning method. The proposed method can treat large-scale systems as one of the main advantages of multi-body systems.

Copyright © 2017 by ASME



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