GENERALIZED COORDINATE PARTITIONING FOR ANALYSIS OF MECHANICAL SYSTEM WITH NONHOLONOMIC CONSTRAINTS.

A computer-based method is presented for formulation and efficient solution of nonlinear, constrained differential equations of motion for spatial dynamic analysis of mechanical systems with holonomic and nonholonomic constraints. Holonomic and nonholonomic constraint equations and differential equations of motion are written in terms of a maximal set of Cartesian generalized coordinates, three translational and four rotational coordiantes for each rigid body in the system, where the rotational coordinates are Euler parameters. The maximal set of generalized coordinates facilitates the general formulation of constraints and forcing functions. A Gaussian elimination algorithm with full pivoting decomposes the constraint Jacobian matrix and identifies independent coordinates and velocities.