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Explicit Dynamic Representation of Complex Constrained Multibody Systems and Its Applications (Postprint)

Man Wanxin
2025-06-25 ChinaXiv: chinaxiv-202506.00282 Mixed Source

The Udwadia-Kalaba equations provide an explicit solution method for complex constrained multibody systems. This method can decouple the generalized accelerations and generalized constraint forces in the system without introducing auxiliary variables, thereby obtaining explicit expressions for both.…