Abstract
This paper presents an efficient algorithm based on velocity transformations for real-time dynamic simulation of multibody systems. Closed-loop systems are turned into open-loop systems by cutting joints. The closure conditions of the cut joints are imposed by explicit constraint equations. An algorithm for real-time simulation is presented that is well suited for parallel processing. The most computationally demanding tasks are matrix and vector products that may be computed in parallel for each body. Four examples are presented that illustrate the performance of the method.
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© 1995 Springer Science+Business Media Dordrecht
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Jiménez, J.M., Avello, A.N., De Jalón, J.G., Avello, A.L. (1995). An Efficient Implementation of the Velocity Transformation Method for Real-Time Dynamics with Illustrative Examples. In: Pereira, M.F.O.S., Ambrósio, J.A.C. (eds) Computational Dynamics in Multibody Systems. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-1110-4_2
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DOI: https://doi.org/10.1007/978-94-017-1110-4_2
Publisher Name: Springer, Dordrecht
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