This paper presents a modular model of rigid multibody system using the acceleration-based augmented Lagrangian formulation. An important effort on the formulation of the governing equations has been made in order to meet the requirements for interactive simulation in computer aided design. Each body has been considered as an independent numerical component with its own numerical parameters, own mechanical parameters and own numerical integration scheme. Non-holonomic and holonomic constraints have been implemented in this formulation. This present work can be considered as an extended formulation of Bayo et al. [1] to the problem of interactive design and particular attention is paid to define the criteria of numerical stability.

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