IMPULSIVE MOTION OF NON-HOLONOMIC DEFORMABLE MULTIBODY SYSTEMS .2. IMPACT ANALYSIS

A method for the impact analysis of non-holonomic deformable multibody systems is presented. The kinematic and dynamic equations that govern the intermittent motion of the spatial non-holonomic multibody systems are developed in terms of coupled sets of reference and elastic co-ordinates. The intermittent motion behavior of the non-holonomic multibody system due to a finite number of impacts is predicted by using the generalized impulse-momentum equations that involve the coefficients of restitution and the constraint Jacobian matrices of the holonomic and non-holonomic constraints. The solution of these equations defines the generalized impulses associated with the impact as well as the jump discontinuities in the system velocity vector and the jumps in the holonomic and non-holonomic reaction forces. The dynamic formulation presented in this paper is exemplified by using planar and spatial non-holonomic multibody systems. As one of the examples, the deformable spatial multibody helicopter system is used.