scientific article; zbMATH DE number 108744

MaRDI QIDQ4024176zbMATH OpenFDO

Authors Marco Borri, Carlo L. Bottasso, P. Mantegazza

Publication date 25 February 1993

zbMATH Keywords

differential equation formulationfinite elements in timegeneralized momentamultibody analysispenalty formulation

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Holonomic systems related to the dynamics of a system of particles (70F20) Nonholonomic systems related to the dynamics of a system of particles (70F25) Generalized coordinates; event, impulse-energy, configuration, state, or phase space for problems in mechanics (70G10)

Review text

Efficient treatment of holonomic and nonholonomic constraints in multibody analysis is widely recognized as a key feature of every reliable and efficient computational procedure for dynamics. In this paper a particular formulation of the problem of motion of constrained mechanical systems is discussed both from a theoretical and a numerical point of view. The method, originated in the context of finite elements in time, is here extended to a differential equation formulation. The state vector of the system is described in a modified phase space where the generalized momenta are allowed as components in the unfeasible directions of the constraints, thus becoming free quantities not subject to constraint conditions. A penalty formulation is developed assuming the reaction forces as quantities proportional to the constraint violations.

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