Multibody dynamic response optimization with ALM and approximate line search (Q1371485)

A method to generate automatically the equations of motion for multi-loop multibody systems is described. The aim is to find symbolic closed form solutions at position, velocity and acceleration level. The basic idea is to decompose the complex system into a set of independent simple loops, to generate the symbolic equations and to reassemble the whole system. It turns out that closed form solutions are more efficient for mechanisms for which the constraint equations can be formulated as a system of recursively solvable polynomials of degree two. The described algorithm is impemented in a software package SYMKIN, which is used to demonstrate the efficiency of the proposed method for two examples, namely a simple wheel suspension and a rather complicated control mechanism of a helicopter.