engleski

Null Space Integration Method for Constrained Multybody Systems with No Constraint Violation

A method for integrating equations of motion of constrained multibody systems with no constraint violation is presented. A methematical model, shaped as a differential-algebaric system of index 1, is transformed into a system of ordinary differential equations using the null-space projection method. Equations of motion are set in non-minimal form. During integration, violations of constraints are corrected by solving constraint equations at the position of velocity level, utilising the metric of the system's configuration space, and projective criterion to the coordinate partitioning method. The method is applied to dynamic simulation of 3D constrained biomechanical system. The simulation results are evaluated by comparing them to the values of characteristic paremeters obtained by kinamatc analysis of analysed motion based on measured kinematic data.

Constrained multibody systems; DAE; multibody integration techniques

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