Abstract
This paper presents an effective and general method for converting the equations of motion of multibody systems expressed in terms of absolute variables and Lagrange multipliers into a convenient set of equations in a canonical form (constraint reaction-free and minimal-order equations). The method is applicable to open-loop and closed-loop multibody systems, and to systems subject to holonomic and/or nonholonomic constraints. Being aware of the system configuration space is a metric space, the Gram-Schmidt ortogonalization process is adopted to generate a genuine orthonormal basis of the tangent (null, free) subspace with respect to the constrained subspace. The minimal-order equations of motion expressed in terms of the corresponding tangent speeds have the virtue of being obtained directly in a “resolved” form, i.e. the related mass matrix is the identity matrix. It is also proved that, in the case of absolute variable formulation, the orthonormal basis is constant, which leads to additional simplifications in the motion equations and fits them perfectly for numerical formulation and integration. Other useful peculiarities of the orthonormal basis method are shown, too. A simple example is provided to illustrate the convertion steps.
Similar content being viewed by others
References
AgrawalO. P.; SaigalS. 1989: Dynamic analysis of multi-body systems using tangent coordinates. Comput. Struct. 31; 349–355
BlajerW. 1990: A useful matrix form of Kane's equations. Mech. Res. Commun. 17: 311–318
BlajerW. 1991: Contribution to the projection method of obtaining equations of motion. Mech. Res. Commun. 18: 293–301
BlajerW. 1992: A projection method approach to constrained dynamic analysis. ASME J. Appl. Mech. 59: 643–649
BlajerW. 1993: Dynamic analysis of constrained multibody systems in orthonormalized tangent space. In: SchiehlenW. (ed.): Advanced multibody system dynamics, pp. 415–420. Dordrecht: Kluwer Academic Publishers
BlajerW.; SchirmW. 1994. A projective criterion for variable partitioning in analyses of constrained mechanical systems. Mech. Res. Commun. 21: 215–222.
KaneT. R.; LevinsonD. A. 1985: Dynamics: theory and applications. New York: McGraw-Hill
KimS. S.; VanderploegM. J. 1986: QR decomposition for state space representation of constrained mechanical dynamic systems. ASME J. Mech. Transm. Automn Des. 108: 183–188
LiangC. G.; LanceG. M. 1987: A differentiable null space method for constrained dynamic analysis. ASME J. Mech. Transm. Automn Des. 109: 405–411
ManiN. K.; HaugE. J.; AtkinsonK. E. 1985: Application of singular value decomposition for analysis of mechanical system dynamics. ASME J. Mech. Transm. Automn Des. 107: 82–87
NejmarkJ. I.; FufajevN. A. 1967. Dynamics of nonholonomic systems Moscow: Nauka. (in Russian)
NikraveshP. E. 1988: Computer-aided analysis of mechanical systems. Englewood Cliffs: Prince Hall
PapastavridisJ. G. 1990: The Maggi or canonical form of Lagrange's equations of motion of holonomic mechanical systems. ASME J. Appl. Mech. 57: 1005–1010.
PobedryaB. E. 1974: Lectures on tensor analysys. Moscow: Moscow University Publishers. (in Russian)
RobersonR. E.; SchwertassekR. 1988. Dynamics of multibody systems. Berlin: Springer
SchiehlenW. (ed.) 1990: Multibody system handbook, Berlin: Springer
StoerJ. 1976: Einführung in die numerische Mathematik I. Berlin: Springer
WehageR. A.; HaugE. J. 1982: Generalized coordinate partitioning for dimension reduction in analysis of constrained dynamic systems. ASME J. Mech. Des. 104: 247–255
WittenburgJ. 1977: Dynamics of systems of rigid bodies. Stuttgart: Teubner
Author information
Authors and Affiliations
Additional information
Communicated by S. N. Atluri, 22 July 1994
The research leading to this paper was supported in part by the State Committee for Scientific Research, Grant No. 3 0955 91 01
Rights and permissions
About this article
Cite this article
Blajer, W. An effective solver for absolute variable formulation of multibody dynamics. Computational Mechanics 15, 460–472 (1995). https://doi.org/10.1007/BF00350358
Issue Date:
DOI: https://doi.org/10.1007/BF00350358