The Principles of d'Alembert, Jourdain, and Gauss in Nonsmooth Dynamics Part I: Scleronomic Multibody Systems
Résumé
The paper treats the evaluation of the accelerations in rigid multibody systems which are subjected to set-valued force
interactions. The interaction laws may be represented by non-smooth potential functions, and then derived through gen-
eralized differentiation. The resulting multifunctions contain the cases of smooth force characteristics, bilateral con-
straints, as well as combinations of them like unilateral constraints, dry friction, or prestressed springs with play. Im-
pacts are excluded. A generalization of the classical principles of d’Alembert, Jourdain, and Gauss in terms of
variational inequalities will be given. A strictly convex minimization problem depending on the unknown accelerations of
the system will be stated, known in classical mechanics as the Principle of Least Constraints.
Domaines
Sciences de l'ingénieur [physics]
Origine : Fichiers produits par l'(les) auteur(s)
