Abstract
The kinematic joints constraints for several types of mechanical joints are derived here. Special attention is given to the spherical joint, revolute joint and spherical-spherical joint. In this process, the fundamental issues associated with kinematic constraints are developed, namely the right-hand side of the acceleration constraint equations and the contributions to the Jacobin matrix. The material presented in this chapter is developed under the framework of multibody systems formulation for spatial systems.
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Flores, P. (2015). Kinematic joints constraints. SpringerBriefs in Applied Sciences and Technology, 168, 43–48. https://doi.org/10.1007/978-3-319-16190-7_9
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