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Multibody Syst Dyn (2007) 18: 145168 DOI 10.1007/s11044-007-9075-1

Summary: Multibody Syst Dyn (2007) 18: 145­168
DOI 10.1007/s11044-007-9075-1
Efficient methodology for multibody simulations
with discontinuous changes in system definition
Rudranarayan M. Mukherjee · Kurt S. Anderson
Received: 27 February 2007 / Accepted: 4 June 2007 / Published online: 18 July 2007
© Springer Science+Business Media B.V. 2007
Abstract A new method is presented for accurately and efficiently simulating multi-scale
multibody systems with discontinuous changes in system definitions as encountered in adap-
tive switching between models with different resolutions as well as models with different
system topologies. An example of model resolution change is a transition of a system from
a discrete particle model to a reduced order articulated multi-rigid body model. The dis-
continuous changes in system definition may be viewed as an instantaneous change (release
or impulsive application of) the system constraints. The method uses a spatial impulse­
momentum formulation in a divide and conquer scheme. The approach utilizes a hierarchic
assembly­disassembly process by traversing the system topology in a binary tree map to
solve for the jumps in the system generalized speeds and the constraint impulsive loads in
linear and logarithmic cost in serial and parallel implementations, respectively. The method
is applicable for systems in serial chain as well as kinematical loop topologies. The coupling
between the unilateral and bilateral constraints is handled efficiently through the use of kine-


Source: Anderson, Kurt S. - Department of Mechanical, Aerospace and Nuclear Engineering, Rensselaer Polytechnic Institute


Collections: Computer Technologies and Information Sciences