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Constraint Embedding for Multibody System DynamicsThis paper describes a constraint embedding approach for the handling of local closure constraints in multibody system dynamics. The approach uses spatial operator techniques to eliminate local-loop constraints from the system and effectively convert the system into tree-topology systems. This approach allows the direct derivation of recursive O(N) techniques for solving the system dynamics and avoiding the expensive steps that would otherwise be required for handling the closedchain dynamics. The approach is very effective for systems where the constraints are confined to small-subgraphs within the system topology. The paper provides background on the spatial operator O(N) algorithms, the extensions for handling embedded constraints, and concludes with some examples of such constraints.
Document ID
20150008439
Document Type
Conference Paper
External Source(s)
Authors
Jain, Abhinandan (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
May 19, 2015
Publication Date
August 30, 2009
Subject Category
Mathematical and Computer Sciences (General)
Meeting Information
International Conference on Multibody Systems(San Diego, CA)
Distribution Limits
Public
Copyright
Other