Abstract
The Riccati transfer matrix method for multibody system (RMSTMM) with closed-loops (CLs) with advantages of high computationally efficiency has wide application prospect in multibody dynamics. The RMSTMM establishes Riccati transfer equation on the acceleration level. However, the constraint equations on the displacement and velocity level at the joint are easy to be destroyed. A general planar multibody system with CLs is used to clarify stabilization of constraints on the displacement and velocity levels. The constrained Jacobi submatrices for different type of joints are derived to correct constraints violation. Some numerical examples of the planar system using different type of joint elements are given to demonstrate the proposed method.
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