Null Space Integration Method for Constrained Multibody Systems with No Constraint Violation

被引：0
作者：
Zdravko Terze
Dirk Lefeber
Osman Muftić
机构：
[1] Naval Architecture,Department of Applied Mechanics, Faculty of Mechanical Engineering and
[2] University of Zagreb,Department of Mechanical Engineering, Multibody Mechanics Group, Faculty of Applied Sciences
[3] Vrije Universiteit Brussel,undefined
来源：
Multibody System Dynamics | 2001年 / 6卷
关键词：
constrained multibody systems; DAE; multibody integration techniques;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A method for integrating equations of motion of constrained multibodysystems with no constraint violation is presented. A mathematical model,shaped as a differential-algebraic system of index 1, is transformedinto a system of ordinary differential equations using the null-spaceprojection method. Equations of motion are set in a non-minimal form.During integration, violations of constraints are corrected by solvingconstraint equations at the position and velocity level, utilising themetric of the system's configuration space, and projective criterion to thecoordinate partitioning method. The method is applied to dynamicsimulation of 3D constrained biomechanical system. The simulation resultsare evaluated by comparing them to the values of characteristicparameters obtained by kinematic analysis of analyzed motion based onmeasured kinematic data.
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页码：229 / 243
页数：14
相关论文
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