ZHAO Han, ZHAO Xiao-min, JIANG Jian-man. Study on Hamel’s Embedding Method via the Udwadia-Kalaba Theory[J]. Applied Mathematics and Mechanics, 2017, 38(6): 696-707. doi: 10.21656/1000-0887.370327
Citation: ZHAO Han, ZHAO Xiao-min, JIANG Jian-man. Study on Hamel’s Embedding Method via the Udwadia-Kalaba Theory[J]. Applied Mathematics and Mechanics, 2017, 38(6): 696-707. doi: 10.21656/1000-0887.370327

Study on Hamel’s Embedding Method via the Udwadia-Kalaba Theory

doi: 10.21656/1000-0887.370327
  • Received Date: 2016-10-24
  • Rev Recd Date: 2016-11-21
  • Publish Date: 2017-06-15
  • Hamel embedded the constraint directly into the kinetic energy of unconstrained motion to avoid the use of Lagrange multiplier, which made a simple, straightforward, but incompletely correct method. Hamel stated that this method may lead to wrong results, but did not point out the applicable conditions for its correctness. Based on the Udwadia-Kalaba theory, the necessary and sufficient condition for Hamel’s embedding method was found. Besides, examples show that Rosenberg’s work on the validity of Hamel’s embedding method is insufficient. Hamel’s embedding method may be correct under nonholonomic constraint and may be incorrect under holonomic constraint. According to the theoretical and exemplary analysis, the correctness of Hamel’s embedding method is not only determined by the constraints, but also determined by the mechanical system model.
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