Staggered solution procedures for multibody dynamics simulation

A computational procedure is presented for the direct integration of the multibody dynamical (MBD) equations with constraints. Numerical experiments conducted with this MBD procedure indicate that it yields robust solutions in cases where the step size furnishes more than 20 samples for the period of highest apparent response frequency in a given multibody system. The MBD solution procedure is implemented in two separate modules: the generalized coordinated solver, 'CINT', and the constraint Lagrange multiplier solver, 'LINT'.