engleski

On Differential-Geometric Approach to Dynamic Simulation of Constrained Multibody Systems

Adopting system generalized mass matrix as a Riemannian metric on the system configuration space and utilizing differential-geometric concepts, dynamics of multibody system is treated as a point dynamics in so-defined Riemannian space where the constraint submanifold is embedded. Governing dynamic equations are reviewed and metric and structure of configuration space examined. Computational issues of the system motion integral curves are discussed. In the focus of the paper are constraint violation stabilization methods based on the constraint manifold projective algorithms. Based on the exposed analysis, two integration methods for constrained multibody system simulation are reviewed and compared.

Constrained Multibody Systems; DAE; Integration Methods

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