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Energy-momentum conserving integration of multibody dynamics   总被引:2,自引:0,他引:2  
A rotationless formulation of multibody dynamics is presented, which is especially beneficial to the design of energy-momentum conserving integration schemes. The proposed approach facilitates the stable numerical integration of the differential algebraic equations governing the motion of both open-loop and closed-loop multibody systems. A coordinate augmentation technique for the incorporation of rotational degrees of freedom and associated torques is newly proposed. Subsequent to the discretization, size-reductions are performed to lower the computational costs and improve the numerical conditioning. In this connection, a new approach to the systematic design of discrete null space matrices for closed-loop systems is presented. Two numerical examples are given to evaluate the numerical properties of the proposed algorithms.  相似文献
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In the present work, a new energy-momentum conserving time-stepping scheme for multibody systems comprising screw joints is developed. In particular, it is shown that the underlying rotationless formulation of multibody dynamics along with a specific coordinate augmentation technique makes possible the energy-momentum discretization of the screw pair. In addition to that, control (or servo) constraints are treated within the rotationless framework of multibody dynamics. The control constraints are used to partially prescribe the motion of a multibody system. In particular, control constraints, in conjunction with the coordinate augmentation technique, make possible to solve inverse dynamics problems by applying the present simulation approach.  相似文献
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