An implicit, stiffly stable numerical integration algorithm is developed and demonstrated for automated simulation of multibody dynamic systems. The concept of generalized coordinate partitioning is used to parameterize the constraint set with independent generalized coordinates. A stiffly stable, Backward Differentiation Formula (BDF) numerical integration algorithm is used to integrate independent generalized coordinates and velocities. Dependent generalized coordinates, velocities, and accelerations, as well as Lagrange multipliers that account for constraints, are explicitly retained in the formulation to satisfy all of the governing kinematic and dynamic equations. The algorithm is shown to be valid and accurate, both theoretically and through solution of an example.
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June 1992
Research Papers
Implicit Numerical Integration of Constrained Equations of Motion Via Generalized Coordinate Partitioning
E. J. Haug,
E. J. Haug
Center for Simulation and Design Optimization and Departments of Mechanical Engineering and Mathematics, The University of Iowa, Iowa City, IA 52242
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Jeng Yen
Jeng Yen
Center for Simulation and Design Optimization and Departments of Mechanical Engineering and Mathematics, The University of Iowa, Iowa City, IA 52242
Search for other works by this author on:
E. J. Haug
Center for Simulation and Design Optimization and Departments of Mechanical Engineering and Mathematics, The University of Iowa, Iowa City, IA 52242
Jeng Yen
Center for Simulation and Design Optimization and Departments of Mechanical Engineering and Mathematics, The University of Iowa, Iowa City, IA 52242
J. Mech. Des. Jun 1992, 114(2): 296-304 (9 pages)
Published Online: June 1, 1992
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Received:
May 1, 1990
Online:
June 2, 2008
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Haug, E. J., and Yen, J. (June 1, 1992). "Implicit Numerical Integration of Constrained Equations of Motion Via Generalized Coordinate Partitioning." ASME. J. Mech. Des. June 1992; 114(2): 296–304. https://doi.org/10.1115/1.2916946
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