Naslov
Differential-Geometric Characteristics of Optimized Generalized Coordinates Partitioned Vectors for Holonomic and Non-Holonomic Multibody Systems

Autori
Terze, Zdravko ; Matijašević, Dubravko ; Vrdoljak, Milan ; Koroman, Vladimir

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
ASME Symposium on Differential-Geometric Methods in Multibody Dynamics, Non-Linear Dynamics and Control, In: Proceedings of ASME IDETC 2009, 7th MSNDC / Kurt Anderson (Proc. 7th MSNDC) ; Zdravko Terze, Andreas Mueller (Symp. Differential-Geom. Methods in MBD, Non-linear Dynamics and Control) - New York (NY) : American Society of Mechanical Engineers (ASME), 2009, 1-9

Skup
7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control

Mjesto i datum
San Diego (CA), Sjedinjene Američke Države, 30.08.2009. - 02.09.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Multibody Dynamics; Numerical integration; Coordinates partitioning; Manifolds
(Multibody dynamics; Numerical Integration; Coordinates partitioning; Manifolds)

Sažetak
Differential-geometric characteristics and structure of optimized generalized coordinates partitioned vectors for generally constrained multibody systems are discussed. Generalized coordinates partitioning is well-known procedure that can be applied in the framework of numerical integration of DAE systems. However, although the procedure proves to be a very useful tool, it is known that an optimization algorithm for coordinates partitioning is needed to obtain the best performance. After short presentation of differential-geometric background of optimized coordinates partitioning, the structure of optimally partitioned vectors is discussed on the basis of gradient analysis of separate constraint sub-manifolds at configuration and velocity level when holonomic and non-holonomic constraints are present in the system. While, in the case of holonomic systems, the vectors of optimally partitioned coordinates have the same structure for generalized positions and velocities, when non-holonomic constraints are present in the system, the optimally partitioned coordinates generally differ at configuration and velocity level and separate partitioned procedure has to be applied. The conclusions of the paper are illustrated within the framework of the presented numerical example.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo, Zrakoplovstvo, raketna i svemirska tehnika

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