An explicit-implicit method for flexible-rigid multibody systems
explicit time integration schemeexplicit-implicit methodfinite element semi-discretization procedureflexible-rigid multibody systemsimplicit conserving schemeinterface of rigid bodyiterative solutionLagrange multiplier methodnode-based partitioning schemerotationstransltions
Finite element, Rayleigh-Ritz, Galerkin and collocation methods for ordinary differential equations (65L60) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Dynamics of multibody systems (70E55) Numerical approximation of solutions of dynamical problems in solid mechanics (74H15) Finite element methods applied to problems in solid mechanics (74S05)
We address the solution of problems which include both flexible and rigid bodies. An explicit time integration scheme along with a finite element semi-discretization procedure is employed for flexible bodies, whereas an implicit conserving scheme is adopted for rigid bodies. For elements in each flexible body which lie on an interface with a rigid body, we introduce a node-based partitioning scheme. In each half-time step where the balance of momentum is enforced, the explicit nodes are integrated first. The results are used subsequently as boundary conditions for integration of implicit nodes. The implicit nodes which lie on an interface of a rigid body are constrained to follow the motion of the rigid body by Lagrange multiplier method. This leads to a modification of inertial properties of the attached rigid body, and results in an iterative solution procedure involving six parameters: three for translations, and three for rotations. The overall algorithm is shown to be momentum-conserving. Model problems are presented for examining the applicability and the conserving property of the scheme.
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