Efficient dynamic modeling for rigid multi-body systems with contact and impact. An O(n) formulation
The paper deals with the efficiency problem for the dynamic simulation of tree-like multi-body systems with contact and impact. The endpoint contact and other constraints are introduced into the motion equations by means of constraint forces. Switching between the free and constrained system is associated with the short-time impact. The problem is structured into parts by splitting the system into a set of subsystems using the projection equation method. This representation allows to apply a recursive procedure to minimize the computational effort in the modeling via avoiding the inversion of the total mass matrix of the system. The results of numerical simulation are presented for the case of changing contact scenarios.
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