FINITE-ELEMENT BASED RECURSIVE FORMULATION FOR REAL-TIME DYNAMIC SIMULATION OF FLEXIBLE MULTIBODY SYSTEMS

Date

1991-01-01

Author

IDER, SK

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A finite-element matrix method of the dynamical equations for constrained flexible multibody systems undergoing large rotations is presented. The algorithmic procedure is based on recursive formulation where all the kinematical expressions as well as the final governing equations of motion are in a matrix form suited for real time computation. The advantages of the method stem from the partitioning of the hybrid coordinates used in the analysis and the identification of the matrices associated with the partial velocities. A parallel processing algorithm based on the procedures outlined is also developed. A discussion on the parallel processors implementation and their utility in simulation of complex constrained multibody systems is presented. A spatial robotic manipulator is simulated to illustrate the performance of the algorithm.

Subject Keywords

Mechanical Engineering, Modelling and Simulation, General Materials Science, Civil and Structural Engineering, Computer Science Applications

URI

https://hdl.handle.net/11511/63862

Journal

COMPUTERS & STRUCTURES

DOI

https://doi.org/10.1016/0045-7949(91)90324-f

Collections

Department of Mechanical Engineering, Article

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Citation Formats

S. IDER, “FINITE-ELEMENT BASED RECURSIVE FORMULATION FOR REAL-TIME DYNAMIC SIMULATION OF FLEXIBLE MULTIBODY SYSTEMS,” COMPUTERS & STRUCTURES, pp. 939–945, 1991, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/63862.