An efficient computational method for real time multibody dynamic simulation in fully cartesian coordinates

Bayo, Eduardo; Jalón, Javier García de; Avello, A.; Cuadrado, Javier

doi:10.1016/0045-7825(91)90023-y

Cited by 55 publications

(30 citation statements)

References 6 publications

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“…doi:10.1016/j.compstruc.2010.03.003 [13,15], which can be extended to nonlinear beams and shells [14,11]. It is worth mentioning, that the present rotationless formulation is closely related to the notion of natural coordinates advocated by García de Jalón and coworkers, see [7,21,20]. The coherence between both formulations is outlined in detail by Uhlar and Betsch in [54].…”

Section: Introductionmentioning

confidence: 90%

On the derivation of energy consistent time stepping schemes for friction afflicted multibody systems

Uhlar

Betsch

2010

Computers & Structures

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Section: Introductionmentioning

confidence: 90%

On the derivation of energy consistent time stepping schemes for friction afflicted multibody systems

Uhlar

Betsch

2010

Computers & Structures

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“…Both components are only simultaneously admissible at the singular configuration; at this point,q a = η 1qa1 + η 2qa2 . No matter which component defines the motion after the singularity, the other one will become a violation of the velocity-level constraints (3). Augmented Lagrangian formulations based on penalty approaches transform the constraint violations into constraint reactions, as The forward dynamics simulation of the slidercrank motion starting from the singular configuration supports the previous statements.…”

Section: Change In the Subspace Of Admissible Motion In Singular Confmentioning

confidence: 97%

“…Several related formalisms based on the augmented Lagrangian approach have been subsequently developed. An implementation of the algorithm in [4] aiming at real-time efficiency was published in [3]. In [6] and [11], mass-orthogonal projections were used together with the augmented Lagrangian formulation to ensure the satisfaction of the kinematic constraints.…”

Section: Introductionmentioning

confidence: 99%

Behaviour of augmented Lagrangian and Hamiltonian methods for multibody dynamics in the proximity of singular configurations

et al. 2016

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Augmented Lagrangian methods represent an efficient way to carry out the forward-dynamics simulation of mechanical systems. These algorithms introduce the constraint forces in the dynamic equations of the system through a set of multipliers. While most of these formalisms were obtained using Lagrange's equations as starting point, a number of them have been derived from Hamilton's canonical equations. Besides being efficient, they are generally considered to be robust, which makes them especially suitable for the simulation of systems with discontinuities and impacts. In this work, we have focused on the simulation of mechanical assemblies that undergo singular configurations. First, some sources of numerical difficulties in the proximity of singular configurations were identified and discussed. Afterwards, several augmented Lagrangian and Hamiltonian formulations were compared in terms of their robustness during the forward-dynamics simulation of two benchmark problems. Newton-Raphson iterative schemes were developed for these formulations with the Newmark formula as numerical integrator. These outperformed fixed point iteration approaches in terms of robustness and efficiency. The effect of the formulation parameters on simulation performance was also assessed.

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“…Note the presence of the scaling factor, s. The second term on the right-hand side of Eq. (8) can be interpreted as the constraint enforcement via the penalty method, and the combination of the two approaches is known as the Augmented Lagrangian Formulation [27,28], which is a technique that finds a general solution for boundary value problems and is particularly useful when dealing with constrained dynamic systems [29,30,31]. Bottasso et al [32] proposed using augmented Lagrangian formulations to solve differential-algebraic equations.…”

Section: Proposed Domain Decomposition Approachmentioning

confidence: 99%

“…The kinematic continuity conditions across sub-domain interfaces is enforced via the localized Formulation [27,28] is a general solution technique for boundary value problems and is particularly useful when dealing with constrained dynamical system [29,30,31]. Bottasso et al [32] and augmented Lagrangian formulations in the solution of differential-algebraic equations.…”

Section: Proposed Domain Decomposition Approachmentioning

confidence: 99%

Domain Decomposition Approach Applied for Two- and Three-dimensional Problems via Direct Solution Methodology

Kwak¹,

Cho²,

Chun³

et al. 2015

International Journal of Aeronautical and Space Sciences

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This paper presents an all-direct domain decomposition approach for large-scale structural analysis. The proposed approach achieves computational robustness and efficiency by enforcing the compatibility of the displacement field across the subdomain boundaries via local Lagrange multipliers and augmented Lagrangian formulation (ALF). The proposed domain decomposition approach was compared to the existing FETI approach in terms of the computational time and memory usage. The parallel implementation of the proposed algorithm was described in detail. Finally, a preliminary validation was attempted for the proposed approach, and the numerical results of two-and three-dimensional problems were compared to those obtained through a dual-primal FETI approach. The results indicate an improvement in the performance as a result of the implementing the proposed approach.

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An efficient computational method for real time multibody dynamic simulation in fully cartesian coordinates

Cited by 55 publications

References 6 publications

On the derivation of energy consistent time stepping schemes for friction afflicted multibody systems

On the derivation of energy consistent time stepping schemes for friction afflicted multibody systems

Behaviour of augmented Lagrangian and Hamiltonian methods for multibody dynamics in the proximity of singular configurations

Domain Decomposition Approach Applied for Two- and Three-dimensional Problems via Direct Solution Methodology

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