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摘要
The purpose of this paper is to study an analytical method to solve for the ideal constraint reaction forces in a system with holonomic and nonholonomic constraints. Firstly, by means of the Lagrange multiplier method and Jourdain principle, the dynamical equations are established for a nonholonomic system with redundant coordinates. Secondly, the relationship between the Lagrange multipliers and the ideal constrained forces in Cartesian space is discussed. Finally, an explicit analytical expression for the actual ideal constrained forces is achieved. A typical example of a nonholonomic system implies that the scheme provided in the present paper is valid.
