Kinematic and Dynamic Simulation of Multibody Systems

Jalón, Javier García de; Bayo, Eduardo

doi:10.1007/978-1-4612-2600-0

Cited by 753 publications

(503 citation statements)

References 57 publications

Supporting

Mentioning

475

Contrasting

Unclassified

Order By: Relevance

“…where ω and ξ can be interpreted as the natural frequency and damping ratio of the penalized constraint (García de Jalón and Bayo, 1994;Bayo et al, 1988;Bayo and Avello, 1996;Bayo and Ledesma, 1996;Blajer, 2002a) . This formulation is more stable but it still requires a large penalty parameter, and also introduces some artificial damping that may be inconvenient for long term calculations.…”

Section: Constraint Enforcement Methodsmentioning

confidence: 99%

“…In all cases it is assumed that i) the generalized coordinates q are cartesian coordinates of selected points of the mechanism, or alternatively natural coordinates (García de Jalón and Bayo, 1994); ii) the constraint vector take the form Φ(q) and iii) the generalized forces are null (Q = 0).…”

Section: Augmented Lagrange Formulation With a Standard Implicit Intementioning

confidence: 99%

“…The augmented Lagrangian technique was originally introduced in the field of constrained optimization (Bertsekas, 2003) and is used in a wide variety of engineering applications, such as contact/impact mechanics (Wiggers, 2002;Laursen, 2002), multibody dynamics (García de Jalón and Bayo, 1994), etc. With its most common implementation, the Uzawa method, which will be introduced in Section 2.2, establishes a means of exactly enforcing constraints using standard methods for solving Ordinary Differential Equation (ODE) systems.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Conservative Augmented Lagrangian Algorithm for the Dynamics of Constrained Mechanical Systems

Orden

Ortega

2006

Mechanics Based Design of Structures and Machines

View full text Add to dashboard Cite

The motion of many practical mechanical systems is often constrained. An important example is the dynamics of multibody systems, where the numerical solution of this type of systems faces several difficulties. A strategy for to solve this type of problems is the augmented Lagrange formulation, which allows the use of numerical integrators for ODEs, combined with an update scheme for the algebraic variables, accomplishing exact fulfillment of the constraints. This work focuses on the design of a conservative version of this augmented Lagrangian formulation for holonomic constraints, proposing a numerical procedure that exhibits excellent stability.

show abstract

Section: Constraint Enforcement Methodsmentioning

confidence: 99%

Section: Augmented Lagrange Formulation With a Standard Implicit Intementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Conservative Augmented Lagrangian Algorithm for the Dynamics of Constrained Mechanical Systems

Orden

Ortega

2006

Mechanics Based Design of Structures and Machines

View full text Add to dashboard Cite

show abstract

“…Moreover, they are prone to noise in the measurements and the unmodeled dynamics, see (García de Jalón and Bayo, 1994). Thus, a methodology previously developed by the authors (Awtar et al, 2002) has been used in order to identify the dynamic model.…”

Section: Dynamic Modelmentioning

confidence: 99%

“…The first one implements a routine for solving the forward position problem of the 3 DOF PM with a PRS configuration (cine3DOF embedded function). It obtains the 9 generalized coordinates that define the robot kinematics by means of the concepts in (Merlet, 2000), (García de Jalón and Bayo, 1994), and the nonlinear position problem is solved by using a Newton-Raphson algorithm.…”

Section: Real-time Control Implementationmentioning

confidence: 99%