Implementation of A Geometric Constraint Regularization For Multibody System Models

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Redundant constraints in MBS models severely deteriorate the computational performance and accuracy of any numerical MBS dynamics simulation method. Classically this problem has been addressed by means of numerical decompositions of the constraint Jacobian within numerical integration steps. Such decompositions are computationally expensive. In this paper an elimination method is discussed that only requires a single numerical decomposition within the model preprocessing step rather than during the time integration. It is based on the determination of motion spaces making use of Lie group concepts. The method is able to reduce the set of loop constraints for a large class of technical systems. In any case it always retains a sufficient number of constraints. It is derived for single kinematic loops.


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Archive of Mechanical Engineering

The Journal of Committee on Machine Building of Polish Academy of Sciences

Journal Information

CiteScore 2016: 0.44

SCImago Journal Rank (SJR) 2016: 0.162
Source Normalized Impact per Paper (SNIP) 2016: 0.459


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