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Improved "Order-N" Performance Algorithm for the Simulation of Constrained Multi-Rigid-Body Dynamic Systems

Summary: Improved "Order-N" Performance Algorithm for the Simulation of
Constrained Multi-Rigid-Body Dynamic Systems
K.S. Anderson
and J.H. Critchley
Department of Mechanical, Aeronautical and Nuclear Engineering
Rensselaer Polytechnic Institute, Troy, NY 12180-3590
Multibody Systems Dynamics, Vol. 9, pp. 185-212, 2003
This paper presents an algorithm for the efficient numerical analysis and simulation of modest to heavily constrained
multi-rigid-body dynamic systems. The algorithm can accommodate the spatial motion of general multi-rigid-body
systems containing arbitrarily many closed loops in O(n+m) operations overall for systems containing n generalized
coordinates, and m independent algebraic constraints. The presented approach does not suffer from the performance
(speed) penalty encountered by most other of the so-called "O(n)" state-space formulations, when dealing with
constraints which tend to actually show O(n + m + nm + nm2
+ m3
) performance. Additionally, these latter for-
mulations may require additional constraint violation stabilization procedures (e.g. Baumgarte's method, coordinate
partitioning, etc.) which can contribute significant additional computation. The presented method suffers less from
this difficulty because the loop closure constraints at both the velocity and acceleration level are directly embedded
within the formulation. Due to these characteristics, the presented algorithm offers superior computing performance


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


Collections: Computer Technologies and Information Sciences