This paper presents a novel method for motion analysis of rigid multibody systems. In general, dynamics of multibody systems is described by differential algebraic equations with Lagrange multipliers. For efficient and accurate analysis, it is desirable to eliminate the Lagrange multipliers and dependent variables. Methods called nullspace method and Maggi’s method eliminate the Lagrange multipliers by using the nullspace matrix for the constraint Jacobian. In a previous report, the author presented a method in which the nullspace matrix is obtained by solving a differential equation together with the equation of motion of the system. In that method QR decomposition is used. In this report, reduction in computational time with the LU decomposition is attempted. In addition, treatment of singular configurations for accurate analysis is presented. Validity of the presented method is confirmed via numerical examples.
Skip Nav Destination
ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 26–29, 2018
Quebec City, Quebec, Canada
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5183-8
PROCEEDINGS PAPER
Improved Differential Nullspace Matrix Method for the Dynamic Analysis of Multibody Systems
Keisuke Kamiya
Keisuke Kamiya
Aichi Institute of Technology, Toyota, Japan
Search for other works by this author on:
Keisuke Kamiya
Aichi Institute of Technology, Toyota, Japan
Paper No:
DETC2018-85719, V006T09A017; 10 pages
Published Online:
November 2, 2018
Citation
Kamiya, K. "Improved Differential Nullspace Matrix Method for the Dynamic Analysis of Multibody Systems." Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Quebec City, Quebec, Canada. August 26–29, 2018. V006T09A017. ASME. https://doi.org/10.1115/DETC2018-85719
Download citation file:
12
Views
Related Proceedings Papers
Enforcing Constraints in Multibody Systems: A Review
IDETC-CIE2007
Related Articles
A Practical Approach for the Linearization of the Constrained Multibody Dynamics Equations
J. Comput. Nonlinear Dynam (July,2006)
The Optimal Control Approach to Dynamical Inverse Problems
J. Dyn. Sys., Meas., Control (March,2012)
Review of Contemporary Approaches for Constraint Enforcement in Multibody Systems
J. Comput. Nonlinear Dynam (January,2008)
Related Chapters
Dynamic Behavior of Pumping Systems
Pipeline Pumping and Compression Systems: A Practical Approach
Dynamic Behavior of Pumping Systems
Pipeline Pumping and Compression System: A Practical Approach, Third Edition
Dynamic Behavior of Pumping Systems
Pipeline Pumping and Compression Systems: A Practical Approach, Second Edition