An implicit numerical integration algorithm based on generalized coordinate partitioning is presented for the numerical solution of differential–algebraic equations of motion arising in multibody dynamics. The algorithm employs implicit numerical integration formulas to express independent generalized coordinates and their first time derivative as functions of independent accelerations at discr...

This paper presents a variable step size implicit numerical integration algorithm for dynamic analysis of stiff multibody systems. Stiff problems are very common in real world applications, and their numerical treatment by means of explicit integration is cumbersome or infeasible. Until recently, implicit numerical integration of the equations of motion of stiff mechanical systems has been prob...

An object oriented data model is defmed to describe multibody systems. Extensions for modelIing mechatronic elements like sensors and actuators within the multibody system as weil as interfaces to ather dynamic systems have been developed. An implementation in a neutral modelIing kernel and a format to store the description cf a multibody system on a data exchange file are directly derivcd from...

A common problem in aerodynamic and astrodynamic engineering is accurate modeling of systems that combine flexible and rigid bodies with a controller. Mechanical and control simulators typically represent only rigid bodies and require preliminary transformation of flexible body problems into a suitable approximation. Analytical methods and commercial off-the-shelf (COTS) flexible-body analysis ...

Wheel-rail systems can be modelled as mechanical multibody systems with holonomic constraints. The dynamical behaviour is described by a diierential-algebraic system of index 3 in non{Hessenberg form ((10]). We discuss the eecient numerical solution of these model equations. A perturbation analysis suggests the integration of the model equations in the Gear{Gupta{Leimkuhler (GGL) formulation. T...

Some mechatronic systems have different spatial configurations or operation positions, and, as a consequence, their dynamic behavior, described by their most significant eigenfrequencies and mode-shapes, may vary in the configuration space. This inevitably affects the performance and the stability of the control system. Regarding the design of mechatronic systems with variable configuration, tw...

The consideration of elastic effects as well as nonlinear rigid body motions makes the description of mechanical systems by elastic multibody systems (EMBS) a powerful tool in the development process. Due to the fine spatial discretization of the elastic continuum, the reduction of the elastic degrees of freedom is necessary. This essential step to enable efficient EMBS simulations can be execu...

9Yoon, S., Howe, R. M., and Greenwood, D. T., “Stability and Accuracy Analysis of Baumgarte’s Constraint Stabilization Method,” Journal of Mechanical Design, Vol. 117, No. 3, 1995, pp. 446–453. 10Lin, S. T., and Hong, M. C., “Stabilization Method for the Numerical Integration of Multibody Mechanical System,” Journal of Mechanical Design, Vol. 120, No. 4, 1998, pp. 565–572. 11Haug, E. J., Comput...

We consider nonlinear multibody systems and present a suitable set of coordinates for the internal dynamics which allow to decouple without need compute Byrnes–Isidori form. Furthermore, we derive sufficient conditions system parameters such that class with constant mass matrix are bounded-input, bounded-output stable.

The formalism of multibody systems offers a means computer-assisted algorithmic analysis and simulating optimizing an arbitrary movement possible high number elastic bodies in the connection [...]