Integration of elastic multibody systems by invariant conserving/dissipating algorithms. I. Formulation
✍ Scribed by Marco Borri; Carlo L. Bottasso; Lorenzo Trainelli
- Book ID
- 104266700
- Publisher
- Elsevier Science
- Year
- 2001
- Tongue
- English
- Weight
- 267 KB
- Volume
- 190
- Category
- Article
- ISSN
- 0045-7825
No coin nor oath required. For personal study only.
✦ Synopsis
This work presents a novel methodology for the dynamic analysis of general non-linear ¯exible multibody systems. In Part I we develop the 6-D compact representation of motion for those body models which motion may be described by a displacement ®eld plus an independent rotation ®eld. This approach explores the fundamental properties of rigid body motion, and in particular the coupled nature of linear and angular quantities in both kinematics and dynamics, inspiring a novel parameterization technique based on the exponential map. Using the proposed approach, we derive the governing equations for the case of multibody systems composed by rigid bodies and geometrically non-linear beams connected by holonomic constraints. These equations provide the starting point for the derivation of a class of numerical algorithms characterized by non-conventional conservation properties. In Part II of this work we develop the algorithms and illustrate their properties with the aid of some numerical applications.