A rotationless formulation of multibody dynamics: modeling of screw joints and incorporation of control constraints

DOI10.1007/S11044-009-9149-3MaRDI QIDQ833087zbMATH OpenOpenAlexFDO

Authors Stefan Uhlar, Peter Betsch

Publication date 11 August 2009

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-009-9149-3

zbMATH Keywords

inverse dynamicscoordinate augmentationenergy-momentum conserving time-stepping scheme

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55) Control of mechanical systems (70Q05) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

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Cites work

• A geometric approach to solving problems of control constraints: Theory and a DAE framework
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• Conservative numerical methods for \(\ddot x=f(x)\)
• Constrained integration of rigid body dynamics
• Contact conditions for cylindrical, prismatic, and screw joints in flexible multibody systems
• Energy-momentum conserving integration of multibody dynamics
• Finite element method in dynamics of flexible multibody systems: Modeling of holonomic constraints and energy conserving integration schemes
• Mechanical systems subject to holonomic constraints: Differential-algebraic formulations and conservative integration
• On the stability of symplectic and energy-momentum algorithms for nonlinear Hamiltonian systems with symmetry
• Optimal control of multibody systems using an energy-preserving direct transcription method
• The discrete null space method for the energy consistent integration of constrained mechanical systems. Part II: multibody dynamics
• The discrete null space method for the energy-consistent integration of constrained mechanical systems. III: Flexible multibody dynamics
• The discrete null-space method for the energy-consistent integration of constrained mechanical systems. I: Holonomic constraints
• Time integration and discrete Hamiltonian systems
• Twenty-five years of natural coordinates

Cited in

(3)

• Energy-momentum conserving integration of multibody dynamics
• Index reduction by minimal extension for the inverse dynamics simulation of cranes
• Numerical integration for the inverse dynamics of a large class of cranes

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