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RISReducing the Constrained Multibody Dynamics Problem to the Solution of a System of Ordinary Differential Equations Via Velocity Partitioning and Lie Group Integration
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In multibody dynamics, formulating the equations of motion in absolute Cartesian coordinates results in a set of index-3 differential algebraic equations (DAEs). In this work, we present an approach that bypasses the DAE ...
Constrained Multibody Kinematics and Dynamics in Absolute Coordinates: A Discussion of Three Approaches to Representing Rigid Body Rotation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We compare three ways to pose the set of index 3 differential algebraic equations (DAEs) associated with the constrained multibody dynamics problem formulated in absolute coordinates. The first approach, named rA, works ...
On the Use of HalfImplicit Numerical Integration in Multibody Dynamics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work highlights the use of halfimplicit numerical integration in the context of the index three differential algebraic equations (DAEs) of multibody dynamics. Although halfimplicit numerical integration is well ...
On the Use of Half-Implicit Numerical Integration in Multibody Dynamics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work highlights the use of half-implicit numerical integration in the context of the index three differential algebraic equations (DAEs) of multibody dynamics. Although half-implicit numerical integration is well ...