engleski

Diferential-Geometric Approach to Numerical Dynamics of Multibody Systems

Mathematical models and numerical procedures for numerical treatment of multibody systems dynamics, using differential-geometric approach are in the focus of the paper. Geometrical properties of rigid body rotation group SO(3) is addressed and structure of MBS configuration space is discussed. Mathematical and numerical modelling pertinent to different kind of MBS kinematical topologies are surveyed and discussed. Special attention is given to mathematical modeling of kinematical constraints on manifolds as well as stabilization algorithms for numerical constraint violations. Finally, the numerical strategies for treatment of selected coupled problems within numerical forward dynamics of MBS are discussed.

Numerical dynamics; Multibody systems; Differential geometry; Manifolds

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