Efficient methodology for multibody simulations with discontinuous changes in system definition
 Rudranarayan M. Mukherjee,
 Kurt S. Anderson
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A new method is presented for accurately and efficiently simulating multiscale multibody systems with discontinuous changes in system definitions as encountered in adaptive 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 multirigid body model. The discontinuous 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 assembly–disassembly 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 kinematic joint definitions. The equations of motion for the system are produced in a hierarchic substructured form. This has the advantage that changes in substructure definitions/models results in a change to the system equations only within the associated substructure. This allows for significant changes in model types and definitions without having to reformulate the equations for the whole system.
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 Title
 Efficient methodology for multibody simulations with discontinuous changes in system definition
 Journal

Multibody System Dynamics
Volume 18, Issue 2 , pp 145168
 Cover Date
 20070901
 DOI
 10.1007/s1104400790751
 Print ISSN
 13845640
 Online ISSN
 1573272X
 Publisher
 Springer Netherlands
 Additional Links
 Topics
 Keywords

 Impulse momentum formulation
 Divide and conquer scheme
 Logarithmic complexity
 Coursegraining of models
 Discontinuous system definitions
 Industry Sectors
 Authors

 Rudranarayan M. Mukherjee ^{(1)}
 Kurt S. Anderson ^{(1)}
 Author Affiliations

 1. Department of Mechanical, Aeronautical, and Nuclear Engineering, Rensselaer Polytechnic Institute, Troy, NY, 12180, USA