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  • 1
    Electronic Resource
    Electronic Resource
    An effective solver for absolute variable formulation of multibody dynamics (1995)
    Springer
    Computational mechanics 15 (1995), S. 460-472 
    Details
    ISSN: 1432-0924
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper presents an effective and general method for converting the equations of motion of multibody systems expressed in terms of absolute variables and Lagrange multipliers into a convenient set of equations in a canonical form (constraint reaction-free and minimal-order equations). The method is applicable to open-loop and closed-loop multibody systems, and to systems subject to holonomic and/or nonholonomic constraints. Being aware of the system configuration space is a metric space, the Gram-Schmidt ortogonalization process is adopted to generate a genuine orthonormal basis of the tangent (null, free) subspace with respect to the constrained subspace. The minimal-order equations of motion expressed in terms of the corresponding tangent speeds have the virtue of being obtained directly in a “resolved” form, i.e. the related mass matrix is the identity matrix. It is also proved that, in the case of absolute variable formulation, the orthonormal basis is constant, which leads to additional simplifications in the motion equations and fits them perfectly for numerical formulation and integration. Other useful peculiarities of the orthonormal basis method are shown, too. A simple example is provided to illustrate the convertion steps.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00350358
    Library Location Call Number Volume/Issue/Year Availability
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    Paper (German National Licenses)
    Fulltext
  • 2
    Electronic Resource
    Electronic Resource
    An effective solver for absolute variable formulation of multibody dynamics (1995)
    Springer
    Computational mechanics 15 (1995), S. 460-472 
    Details
    ISSN: 1432-0924
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract  This paper presents an effective and general method for converting the equations of motion of multibody systems expressed in terms of absolute variables and Lagrange multipliers into a convenient set of equations in a canonical form (constraint reaction-free and minimal-order equations). The method is applicable to open-loop and closed-loop multibody systems, and to systems subject to holonomic andor nonholonomic constraints. Being aware of the system configuration space is a metric space, the Gram-Schmidt ortogonalization process is adopted to generate a genuine orthonormal basis of the tangent (null, free) subspace with respect to the constrained subspace. The minimal-order equations of motion expressed in terms of the corresponding tangent speeds have the virtue of being obtained directly in a resolved” form, i.e. the related mass matrix is the identity matrix. It is also proved that, in the case of absolute variable formulation, the orthonormal basis is constant, which leads to additional simplifications in the motion equations and fits them perfectly for numerical formulation and integration. Other useful peculiarities of the orthonormal basis method are shown, too. A simple example is provided to illustrate the convertion steps.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/s004660050033
    Library Location Call Number Volume/Issue/Year Availability
    BibTip Others were also interested in ...
    Paper (German National Licenses)
    Fulltext
  • 3
    Electronic Resource
    Electronic Resource
    A projective criterion to the coordinate partitioning method for multibody dynamics (1994)
    Springer
    Archive of applied mechanics 64 (1994), S. 86-98 
    Details
    ISSN: 1432-0681
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Description / Table of Contents: Übersicht Bei der Simulation der Bewegunsgleichungen von Mehrkörpersystemen mit kinematischen Schleifen in Minimalform stellt sich die Frage nach der Wahl günstiger verallgemeinerter Koordinaten. Hierfür wird ein Projektionskriterium vorgeschlagen, welches die Trennung der systembeschreibenden redundanten Koordinaten in die verallgemeinerten und davon abhängige Koordinaten gestattet. Durch Anwendung eines Verfahrens zur Rückwärtstransformation der kinematischen Beschreibung lassen sich in diesen explizite Schließbedingungen formulieren, was sich bei der Simulation vorteilhaft auswirkt; diese kann ohne Verletzung der Schließbedingungen erfolgen. Es wird auch gezeigt, wie auch bei Verwendung verallgemeinerter Koordinatenphysikalisch interpretierbare Reaktionen ermittelt werden können. Als Anwendungsbeispiel dient ein ebenes Viergelenk.
    Notes: Summary The paper discusses some developments in the coordinate partitioning method for the dynamic analysis of constrained/closed-loop multibody systems. First, the method is reformulated to a more compact form. Then, a simple and reliable projective criterion for choosing the best coordinates from the redundant ones is proposed, and some advantages are pointed out that may arise in the method by applying inverse kinematics algorithms. Finally, the problem of determination ofphysical reactions of constraints and closing conditions is discussed. A four-bar linkage mechanism serves for an illustration of some aspects of the paper.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00789100
    Library Location Call Number Volume/Issue/Year Availability
    BibTip Others were also interested in ...
    Paper (German National Licenses)
    Fulltext
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