A divide and conquer algorithm for constrained multibody system dynamics based on augmented Lagrangian method with projections-based error correctionReport as inadecuate




A divide and conquer algorithm for constrained multibody system dynamics based on augmented Lagrangian method with projections-based error correction - Download this document for free, or read online. Document in PDF available to download.

Nonlinear Dynamics

, Volume 70, Issue 1, pp 871–889

First Online: 03 July 2012Received: 23 July 2011Accepted: 11 June 2012

Abstract

This paper presents a new parallel algorithm for dynamics simulation of general multibody systems. The developed formulations are iterative and possess divide and conquer structure. The constraints equations are imposed at the acceleration level. Augmented Lagrangian methods with mass-orthogonal projections are used to prevent from constraint violation errors. The proposed approaches treat tree topology mechanisms or multibody systems which contain kinematic closed loops in a uniform manner and can handle problems with rank deficient Jacobian matrices. Test case results indicate good accuracy performance dependent on the expense put in the iterative correction of constraint equations. Good numerical properties and robustness of the algorithms are observed when handling systems with single and coupled kinematic loops, redundant constraints, which may repeatedly enter singular configurations.

KeywordsDivide and conquer algorithm Augmented Lagrangian method Mass-orthogonal projections Parallel computing  Download fulltext PDF



Author: Paweł Malczyk - Janusz Frączek

Source: https://link.springer.com/







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