NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Evaluation of constraint stabilization procedures for multibody dynamical systemsComparative numerical studies of four constraint treatment techniques for the simulation of general multibody dynamic systems are presented, and results are presented for the example of a classical crank mechanism and for a simplified version of the seven-link manipulator deployment problem. The staggered stabilization technique (Park, 1986) is found to yield improved accuracy and robustness over Baumgarte's (1972) technique, the singular decomposition technique (Walton and Steeves, 1969), and the penalty technique (Lotstedt, 1979). Furthermore, the staggered stabilization technique offers software modularity, and the only data each solution module needs to exchange with the other is a set of vectors plus a common module to generate the gradient matrix of the constraints, B.
Document ID
19870046454
Document Type
Conference Paper
Authors
Park, K. C. (Colorado Univ. Boulder, CO, United States)
Chiou, J. C. (Colorado, University Boulder, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1987
Subject Category
PHYSICS (GENERAL)
Report/Patent Number
AIAA PAPER 87-0927
Funding Number(s)
CONTRACT_GRANT: NAS1-17660
Distribution Limits
Public
Copyright
Other