Naslov
Störmer-Verlet Integration Scheme for Multibody System Dynamics in Lie-Group Setting

Autori
Terze, Zdravko ; Mueller, Andreas ; Zlatar, Dario

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

Izvornik
Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2013) / - Portland (ME), 2013

Skup
The ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2013)

Mjesto i datum
Portland (OR), Sjedinjene Američke Države, 04.08.2013. - 07.08.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Störmer-Verlet integration scheme; Geometric Integration Algorithm; Lie-groups; Multibody Systems Dynamics

Sažetak
Störmer-Verlet integration scheme has many attractive properties when dealing with ODE systems in linear spaces: it is explicit, 2nd order, linear/angular momentum preserving and it is symplectic for Hamiltonian systems. In this paper we investigate its application for numerical simulation of the multibody system dynamics (MBS) by formulating Störmer-Verlet algorithm for the rotational rigid body motion in Liegroup setting. Starting from the investigations on the single free rigid body rotational dynamics, the paper introduces modified RATTLE integration scheme with the direct SO(3) rotational update. Furthermore, non-canonical Lie-group Störmer-Verlet integration scheme is presented through the different derivation stages. Several presented numerical examples show excellent conservation properties of the proposed geometric algorithm.

Izvorni jezik
Engleski

Znanstvena područja
Matematika, Strojarstvo, Zrakoplovstvo, raketna i svemirska tehnika

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