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Introduction of topics
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Kane's Method, Kane's Equations, Avoiding Lagrange Multipliers - Quasivelocities & Dynamic Equations
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- 1 Introduction of topics
- 2 Usual method of handling constraints using Lagrange multipliers in Lagrange's equations. If we have n generalized coordinates and S constraints, we end up with n+S equations and n+S unknowns.
- 3 Quasivelocities are introduced, and some examples mentioned. (1) Body-axis components of the angular velocity for Euler's rigid body dynamics; (2) Body-axis components of the inertial velocity in ai…
- 4 General approach: defining the last S quasivelocities as the constraints, and formulating the dynamics of the remaining unconstrained n-S quasivelocities. The main thing is we get to skip the use of…
- 5 Kane's method of getting the equations of motion for the n-S unconstrained quasivelocities, based on d'Alembert's principle. See also the Jourdain Principle.
- 6 Example using this method. The 2-particle baton with a wheel or skate under one mass. For the 2 unconstrained quasivelocities, we get fairly simple 1st order ODEs. A Matlab simulations shows that we…
- 7 Example: vehicle stability in a skid; Chaplygin sleigh. The resulting equations can be analyzed in a phase plane which shows lines of equilibria.
- 8 Example: model of semi-tractor-trailer truck or roller racer. Analysis of equilibria reveals the jackknife instability.
