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94 Mutibody Systems Approach to Vehicle Dynamics
{a J } 1
J
Part i
{a I } 1
I
Part j
Fig. 3.15 Perpendicular constraint element. (This material has been reproduced
from the Proceedings of the Institution of Mechanical Engineers, K2 Vol. 213
‘The modelling and simulation of vehicle handling. Part 1: analysis methods’,
M.V. Blundell, page 115, by permission of the Council of the Institution of
Mechanical Engineers)
{z J }1
J
{x J } 1
Part j
{z i } 1
{x i } 1
I
{y J } 1
No relative rotation
about this axis
Part i
{y i } 1
Fig. 3.16 Angular constraint element. (This material has been reproduced
from the Proceedings of the Institution of Mechanical Engineers, K2 Vol. 213
‘The modelling and simulation of vehicle handling. Part 1: analysis methods’,
M.V. Blundell, page 115, by permission of the Council of the Institution of
Mechanical Engineers)
For part i this would be achieved using [B i ] T {a I } i [A ij ]{a J } j p .
For part j this would be achieved using [B j ] T {a J } j [A ji ]{a I } i p .
The fourth and final basic constraint element is the angular constraint
which prevents the relative rotation of two parts about a common axis. The
constraint equation is:
arctan ({x i } 1 • {y j } 1 /{x i } 1 • {x j } 1 ) 0 (3.42)