First order decoupling of equations of motion for multibody systems consisting of rigid and elastic bodies

	First order decoupling of equations of motion for multibody systems consisting of rigid and elastic bodies
Iranian Journal of Science and Technology Transactions of Mechanical Engineering
شناسنامه علمی شماره، دوره 24، شماره 3، اردیبهشت 2000، صفحه 333-343
شناسه دیجیتال (DOI): 10.22099/ijstm.2013.1015
چکیده
An improved method for deriving elastic generalized coordinates is considered and Kane's equations of motion for multibody systems consisting of an arbitrary number of rigid and elastic bodies are presented. The equations are in general form and are applicable for any desired holonomic system. Flexibility in choosing generalized speeds in terms of generalized coordinate derivatives in Kane's method is used. It is shown that proper choice of a congruency transformation between generalized coordinate derivatives and generalized speeds leads to first order decoupled equations of motion for holonomic multibody systems consisting of an arbitrary number of rigid and elastic bodies. In order to demonstrate the use of this method, a simple system consisting of a lumped mass, a spring and a clamped-free elastic beam is modeled
کلیدواژه‌ها
Decoupling؛ rigid and elastic systems؛ Kane's equations؛ congruency transformation

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