Numerical simulation of finite dimensional multibody nonsmooth mechanical systems

An approach to multibody simulation of pneumo-mechanical systems

This work describes a method for the simulation of multiple pneumatic actuators in a context of multi body mechanical systems. The model of the single actuator is based on elliptical approximation of non-linear pneumatic devices; friction and sticking phenomena are considered as well. Pneumatic devices introduce forces and new state variables into the complete multibody system: we developed a s...

Symbolic Preprocessing for the Numerical Simulation of Multibody Dynamic Systems

The symbolic-numeric computing described here consists of an extensive symbolic pre-processing of systems of differential-algebraic equations (DAE), followed by the numerical integration of the system obtained. The application area is multibody dynamics. We deal symbolically with a DAE system using differentiation and elimination methods to find all the hidden constraints, and produce a system ...

Numerical Analysis of Flexible Multibody Systems

Mechanical Multibody Systems with Deformable Components

The multibody system approach provides enhanced models of vehicles , robots, and air-and spacecrafts. Mixed systems consisting of both rigid and deformable bodies are aimed at growing demands for reened simulation. A basic modeling framework for this class of mechanical systems is presented which covers also inelastic material behavior. Moreover, the Diierential-Algebraic Equations (DAEs) obtai...

Numerical solution of differential-algebraic equations in mechanical systems simulation

The numerical solution of the differential-algebraic equations of motion of mechanical systems offers many computational challenges. In this paper we describe progress which has been made in understanding the formulation of the equations of motion from the viewpoint of numerical stability, and outline some of the difficulties which must be resolved for efficient and reliable numerical methods i...