Optimization-based simulation of nonsmooth rigid multibody dynamics
نویسندگان
چکیده
منابع مشابه
Iterative Rigid Multibody Dynamics
The simulation of large rigid multibody systems is a challenge. Collisions and friction constraints cause non-smooth motions of the rigid bodies. Differential complementarity problems are therefore used to formulate the dynamical system. The efficient solution of such problems is difficult and the major focus of this thesis. Several modeling choices of varying accuracy and difficulty are presen...
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In this work we present a framework for the convergence analysis in a measure differential inclusion sense of a class of time-stepping schemes for multibody dynamics with contacts, joints, and friction. This class of methods solves one linear complementarity problem per step and contains the semi-implicit Euler method, as well as trapezoidallike methods for which second-order convergence was re...
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Rigid multibody dynamics are often subject to redundant constraints. In the context of contacts it is usually not clear which constraints can be removed in order to obtain a correct solution. But also in the context of jointed multibody systems the removal of redundant constraints selects a particular solution of the underdetermined problem. In case of dissipative systems this also affects the ...
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The main purpose of this paper is to discuss a method for a dynamic modeling and analysis of multibody systems with translational clearance joints. The method is based on the nonsmooth dynamics approach, in which the interaction of the elements that constitute a translational clearance joint is modeled with multiple frictional unilateral constraints. In the following, the most fundamental issue...
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This paper is devoted to the construction of a probabilistic model of uncertain rigid bodies for multibody system dynamics. We first construct a stochastic model of an uncertain rigid body by replacing the mass, the center of mass and the tensor of inertia by random variables. The prior probability distributions of the stochastic model are constructed using the maximum entropy principle under t...
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ژورنال
عنوان ژورنال: Mathematical Programming
سال: 2005
ISSN: 0025-5610,1436-4646
DOI: 10.1007/s10107-005-0590-7