Abstract
The main goal of this work is present a comparative study on several methodologies to solve the equations of motion of constrained spatial multibody systems taking into account the problem of constraints violation. In the sequel of this process, the two main categories of methods to eliminate or reduce constraints violation are revisited, namely those that are based on constraint stabilization approaches and direct correction formulations. Particular attention is given to the most popular approaches, that is, Baumgarte stabilization formulation, penalty method, Augmented Lagrangian formulation and a direct correction approach. Finally, several examples of application are considered to compare the accuracy and efficiency of the different methods used throughout this study.
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Acknowledgments
This work has been supported by FCT with the reference project UID/EEA/04436/2013, by FEDER funds through the COMPETE 2020 – Programa Operacional Competitividade e Internacionalização (POCI) with the reference project POCI-01-0145-FEDER-006941.
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Flores, P. (2018). A Study on Constraints Violation in Dynamic Analysis of Spatial Mechanisms. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_68
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DOI: https://doi.org/10.1007/978-3-319-60867-9_68
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