Comparison of different methods to control constraints violation in forward multibody dynamics

Paulo Flores, Parviz E Nikravesh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

The dynamic equations of motion for constrained multibody systems are frequently formulated using the Newton- Euler's approach, which is augmented with the acceleration constraint equations. This formulation results in the establishment of a mixed set of differential and algebraic equations, which are solved in order to predict the dynamic behavior of general multibody systems. It is known that the standard resolution of the equations of motion is highly prone to constraints violation because the position and velocity constraint equations are not fulfilled. In this work, a general review of the main methods commonly used to control or eliminate the violation of the constraint equations in the context of multibody dynamics formulation is presented and discussed. Furthermore, a general and comprehensive methodology to eliminate the constraints violation at the position and velocity levels is also presented. The basic idea of this approach is to add corrective terms to the position and velocity vectors with the intent to satisfy the corresponding kinematic constraint equations. These corrective terms are evaluated as function of the Moore-Penrose generalized inverse of the Jacobian matrix and of the kinematic constraint equations.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME Design Engineering Technical Conference
PublisherAmerican Society of Mechanical Engineers
Volume7 A
ISBN (Print)9780791855966
DOIs
StatePublished - 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States
Duration: Aug 4 2013Aug 7 2013

Other

OtherASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
CountryUnited States
CityPortland, OR
Period8/4/138/7/13

Fingerprint

Multibody Dynamics
Control Constraints
Equations of motion
Kinematics
Jacobian matrices
Multibody Systems
Equations of Motion
Eliminate
Moore-Penrose Generalized Inverse
Formulation
Constrained Systems
Jacobian matrix
Term
Dynamic Equation
Algebraic Equation
Dynamic Behavior
Euler
Differential equation
Predict
Methodology

Keywords

  • Augmented Lagrangian formulation
  • Baumgarte method
  • Constraints violation
  • Coordinate partitioning method
  • Direct correction
  • Multibody dynamics
  • Penalty approach

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Flores, P., & Nikravesh, P. E. (2013). Comparison of different methods to control constraints violation in forward multibody dynamics. In Proceedings of the ASME Design Engineering Technical Conference (Vol. 7 A). American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2013-12591

Comparison of different methods to control constraints violation in forward multibody dynamics. / Flores, Paulo; Nikravesh, Parviz E.

Proceedings of the ASME Design Engineering Technical Conference. Vol. 7 A American Society of Mechanical Engineers, 2013.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Flores, P & Nikravesh, PE 2013, Comparison of different methods to control constraints violation in forward multibody dynamics. in Proceedings of the ASME Design Engineering Technical Conference. vol. 7 A, American Society of Mechanical Engineers, ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013, Portland, OR, United States, 8/4/13. https://doi.org/10.1115/DETC2013-12591
Flores P, Nikravesh PE. Comparison of different methods to control constraints violation in forward multibody dynamics. In Proceedings of the ASME Design Engineering Technical Conference. Vol. 7 A. American Society of Mechanical Engineers. 2013 https://doi.org/10.1115/DETC2013-12591
Flores, Paulo ; Nikravesh, Parviz E. / Comparison of different methods to control constraints violation in forward multibody dynamics. Proceedings of the ASME Design Engineering Technical Conference. Vol. 7 A American Society of Mechanical Engineers, 2013.
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