Modeling Machine Constraints in SimMechanics and Simulink

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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.

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