A Uniform Framework for Dae Integrators in Flexible Multibody Dy- Namics
نویسنده
چکیده
The present talks deals with a uniform approach to the discretization in time of rigid body dynamics, nonlinear structural mechanics and flexible multibody systems. In particular, it is shown that a uniform set of differential-algebraic equations (DAEs) with constant mass matrix governs the motion of rigid bodies and semi-discrete formulations of structural components (such as geometrically exact beams and shells) resulting from a finite element discretization in space. The extension to multibody dynamics can be easily accomplished by appending additional algebraic equations to the DAEs [1]. Similarly, large deformation contact problems can be handled by applying an active set strategy [2]. The simple structure of the DAEs makes possible the design of structure-preserving time integrators. In particular, both energy-momentum schemes popular in nonlinear structural dynamics as well as symplectic-momentum variational integrators shall be investigated [3].
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