Simulation of mechanisms - Binding equations. Binding forces

We have seen , referring to the general form of the equations of motion, states that in addition to the equations of dynamics, it is also necessary to know the equations of linkage. This is what we do here, keeping the two options used in the software: absolute parameterization or relative parameterization, and examining the linking equations of a geometric nature (which only concern the generalized coordinates themselves), those derived to order 1, then to order 2.

The way to write these equations in their first- and second-order derivative forms is based on a systematic procedure used in virtually all simulation software . This procedure has the advantage of giving a directly usable physical meaning to the Lagrange multipliers associated with these equations. The latter represent, in effect, the components of the force torsor in the links. This is why their analysis is considered immediately afterwards.