Abstract
A unified geometrical interpretation of multibody dynamics codes is presented. The geometrical picture is built using the concepts of configuration manifolds, linear vector spaces, and projection techniques. The presented projection method leads to compact schemes for obtaining different types of equations of motion and for determination of constraint reactions, relevant to open-loop and closed-loop, and for holonomic and nonholonomic systems. The other useful implementations stimulated by the geometrical interpretation are improved schemes for constraint violation elimination, a novel approach to efficient determination of constraint reactions, a geometric interpretation of the augmented Lagrangian formulation, and an orthonormalization method.
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© 2003 Springer Science+Business Media Dordrecht
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Blajer, W. (2003). Geometrical Interpretation of Multibody Dynamics: Theory and Implementations. In: Schiehlen, W., Valášek, M. (eds) Virtual Nonlinear Multibody Systems. NATO ASI Series, vol 103. Springer, Dordrecht. https://doi.org/10.1007/978-94-010-0203-5_2
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DOI: https://doi.org/10.1007/978-94-010-0203-5_2
Publisher Name: Springer, Dordrecht
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