Modeling Machine Constraints in SimMechanics and Simulink
 

All but the simplest rigid-body machines are designed to operate within kinematic constraints that restrict the motion of machine components independently of the forces imposed upon them. These constraints can be time-varying (rheonomic) or time-invariant (scleronomic). Dynamic analysis of these systems requires implementing such constraints between pairs of bodies. The equations representing them are typically higher-index differential algebraic equations that are very challenging to solve.

[url=http://www.mathworks.com/company/newsletters/digest/2006/sept/simple_machines.html]更多...[/url]