Naslov
Null Space Integration Method for Constrained Multybody Systems with No Constraint Violation

Autori
Terze, Zdravko ; Lefeber, Dirk ; Muftić, Osman

Izvornik
Multybody System Dynamics (1384-5640) 6 (2001); 229-243

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Constrained multibody systems; DAE; multibody integration techniques

Sažetak
A method for integrating equations of motion of constrained multibody systems with no constraint violation is presented. A methematical model, shaped as a differential-algebaric system of index 1, is transformed into a system of ordinary differential equations using the null-space projection method. Equations of motion are set in non-minimal form. During integration, violations of constraints are corrected by solving constraint equations at the position of velocity level, utilising the metric of the system's configuration space, and projective criterion to the coordinate partitioning method. The method is applied to dynamic simulation of 3D constrained biomechanical system. The simulation results are evaluated by comparing them to the values of characteristic paremeters obtained by kinamatc analysis of analysed motion based on measured kinematic data.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo, Zrakoplovstvo, raketna i svemirska tehnika

POVEZANOST RADA