Multibody dynamics in generalized divide and conquer algorithm (GDCA) scheme

Mohammad Poursina, Kurt S. Anderson

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

2 Scopus citations

Abstract

Generalized divide and conquer algorithm (GDCA) is presented in this paper. In this new formulation, generalized forces appear explicitly in handle equations in addition to the spatial forces, absolute and generalized coordinates which have already been used in the original version of DCA. To accommodate these generalized forces in handle equations, a transformation is presented in this paper which provides an equivalent spatial force as an explicit function of a given generalized force. Each generalized force is then replaced by its equivalent spatial force applied from the appropriate parent body to its child body at the connecting joint without violating the dynamics of the original system. GDCA can be widely used in multibody problems in which a part of the forcing information is provided in generalized format. Herein, the application of the GDCA in controlling multibody systems in which the known generalized forces are fedback to the system is explained. It is also demonstrated that in inverse dynamics and closed-loop control problems in which the imposed constraints are often expressed in terms of generalized coordinates, a set of unknown generalized forces must be considered in the dynamics of system. As such, using both spatial and generalized forces, GDCA can be widely used to model these complicated multibody systems if it is desired to benefit from the computational advantages of the DCA.

Original languageEnglish (US)
Title of host publicationASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Pages1159-1170
Number of pages12
EditionPARTS A AND B
DOIs
StatePublished - Dec 1 2011
EventASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States
Duration: Aug 28 2011Aug 31 2011

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume4

Other

OtherASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
CountryUnited States
CityWashington, DC
Period8/28/118/31/11

ASJC Scopus subject areas

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

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    Poursina, M., & Anderson, K. S. (2011). Multibody dynamics in generalized divide and conquer algorithm (GDCA) scheme. In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 (PARTS A AND B ed., pp. 1159-1170). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 4, No. PARTS A AND B). https://doi.org/10.1115/DETC2011-48383