Formulation and application of Russell's method

It is shown that the numerical technique of Russell's momentum approach can be derived by using Hamilton's principle and Vance's numerical scheme. It results in a set of first order differnce equations for solving the angular velocities. The numerical examples show that the method is reliable. The algorithm is modified next to perform the analysis of N-body systems with closed loop topology. To increase the formulation flexibility, the equations of motion are represented by using Cartesian coordinates and Lagrange multipliers. The algorithm consists of two parts, Vance's scheme and an unconstrained minimization. The Vance's scheme is used to find the angular velocities, and the unconstrained minimization is applied to provide the correct angular displacements. The proposed scheme is further extended to find the design sensitivity of an N-body system with closed loop configuration, and to carry out the design optimization as well. The numerical example of a small-scaled mechanical system is presented to verify the proposed formulation.