Vakonomic mechanics versus non-holonomic mechanics: a unified geometrical approach
详细信息 查看全文
- 作者：de Leon ; Manuel ; Marrero ; Juan C. ; de Diego ; David Martin
- 关键词：58F05 ; 70H30 ; 70H33 ; 03.20.+i. ; Dynamic systems ; Vakonomic mechanics ; Non-holonomic mechanics ; Symmetries ; Reduction
- 刊名：Journal of Geometry and Physics
- 出版年：2000
- 出版时间：September, 2000
- 年：2000
- 卷：35
- 期：2-3
- 页码：126-144
- 全文大小：123 K
文摘
In this paper some geometrical aspects of constrained mechanics are studied. A symplectic setting for vakonomic mechanics is given, and the conservation of the energy is discussed. This formulation needs constraint forces involving accelerations. A reduction procedure is given for Caplygin vakonomic systems. Finally, a unified geometrical framework for non-holonomic and vakonomic mechanics is described.