Energy-momentum conserving integration of multibody dynamics |
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Authors: | Peter Betsch Stefan Uhlar |
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Affiliation: | (1) Chair of Computational Mechanics, Department of Mechanical Engineering, University of Siegen, Siegen, Germany |
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Abstract: | 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. |
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Keywords: | Conserving time integration Constrained mechanical systems Multibody dynamics Differential-algebraic equations Parallel manipulators |
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