Use of Penalty Formulations in Dynamic Simulation and Analysis of Redundantly Constrained Multibody Systems
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Use of Penalty Formulations in Dynamic Simulation and Analysis of Redundantly Constrained Multibody SystemsData
2013Cita bibliográfica
González, F., Kövecses, J. Use of penalty formulations in dynamic simulation and analysis of redundantly constrained multibody systems. Multibody Syst Dyn 29, 57–76 (2013). https://doi.org/10.1007/s11044-012-9322-y
Resumo
[Abstract]
The determination of particular reaction forces in the analysis of redundantly constrained multibody systems requires the consideration of the stiffness distribution in the system. This can be achieved by modelling the components of the mechanical system as flexible bodies. An alternative to this, which we will discuss in this paper, is the use of penalty factors already present in augmented Lagrangian formulations as a way of introducing the structural properties of the physical system into the model. Natural coordinates and the kinematic constraints required to ensure rigid body behaviour are particularly convenient for this. In this paper, scaled penalty factors in an index-3 augmented Lagrangian formulation are employed, together with modelling in natural coordinates, to represent the structural properties of redundantly constrained multibody systems. Forward dynamic simulations for two examples are used to illustrate the material. Results showed that scaled penalty factors can be used as a simple and efficient way to accurately determine the constraint forces in the presence of redundant constraints.
Palabras chave
Redundant constraints
Augmented Lagrangian formulation
Reaction forces
Penalty factors
Natural coordinates
Restricciones redundantes
Formulación Lagrangiana aumentada
Fuerzas de reacción
Factores de penalización
Coordenadas naturales
Augmented Lagrangian formulation
Reaction forces
Penalty factors
Natural coordinates
Restricciones redundantes
Formulación Lagrangiana aumentada
Fuerzas de reacción
Factores de penalización
Coordenadas naturales
Versión do editor
Dereitos
This is a post-peer-review, pre-copyedit version of an article published in Multibody System Dynamics.
The final authenticated version is available online at: https://doi.org/10.1007/s11044-012-9322-y.
©2013 Springer
ISSN
1573-272X