Hubert Gattringer, Hartmut Bremer, Michael Kastner,
"Efficient dynamic modeling for rigid multi-body systems with contact and impact - An O(n) formulation"
, in Acta Mechanica, Vol. 219, Nummer 1-2, Springer Verlag, Seite(n) 111-128, 2011
Efficient dynamic modeling for rigid multi-body systems with contact and impact - An O(n) formulation
Sprache des Titels:
Efficient simulation of dynamical systems becomes more and more important in industry
and research. Dynamic modeling of multi-body systems yields highly nonlinear equations of motion.
Usually, the accelerations are computed by an explicit inversion of the mass matrix which has the
dimension according to the degrees of freedom. This classical foregoing implies high computational
effort. In the present contribution an O(n) formulation is introduced for efficient (recursive) procedure.
It is based on the Projection Equation in subsystem representation, structuring the problem into parts
and yielding interpretable intermediate solutions. The hereby necessary inversion refers to a reduced
mass matrix which has the order of considered subsystem. Additional constraints like endpoint contact
are included via corresponding constraint forces. Avoiding an inversion of the total mass matrix is
again successfully applied by a recursive procedure. The impact that occurs in the transition phase
between the free system and constrained system is also solved in this sense. Results for the simulation
of a plane pendulum motion with changing contact scenarios are presented.