THE MODELING OF HOLONOMIC MECHANICAL SYSTEMS USING A NATURAL ORTHOGONAL COMPLEMENT

A computationally efficient and systematic algorithm for the modelling of constrained mechanical systems is developed and implemented in this paper. With this algorithm, the governing equations of mechanical systems comprised of rigid bodies coupled by holonomic constraints are derived by means of an orthogonal complement of the matrix of the velocity-constraint equations. The procedure is applicable to all types of holonomic mechanical systems, and it can be extended to cases including simple nonholonomic constraints. Holonomic mechanical systems having a simple kinematic-chain structure, such as single-loop linkages and serial-type robotic manipulators are analyzed regarding the derivation of the matrix of the constraint equations and its orthogonal complement, and the computation of the constraint forces.