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A computer-oriented method for reducing linearized multibody equations by incorporating constraints

Führer, Claus LU and Wallrapp, Oskar (1984) In Computer Methods in Applied Mechanics and Engineering 46(2). p.169-175
Abstract
Consider a spatial multibody system with rigid and elastic bodies. The bodies are linked by rigid interconnections (e.g. revolute joints) causing constraints, as well as by flexible interconnections (e.g. springs) causing applied forces. Small motions of the system with respect to a given nominal configuration can be described by linearized dynamic equations and kinematic constraint equations. We present a computer-oriented procedure which allows to develop a minimum number of these equations. There are three problems. First: algorithmic selection of position coordinates; second: condensation of the dynamic equations; third: evaluation of the constraint forces. To demonstrate the procedure, a closed loop multibody system is used as an... (More)
Consider a spatial multibody system with rigid and elastic bodies. The bodies are linked by rigid interconnections (e.g. revolute joints) causing constraints, as well as by flexible interconnections (e.g. springs) causing applied forces. Small motions of the system with respect to a given nominal configuration can be described by linearized dynamic equations and kinematic constraint equations. We present a computer-oriented procedure which allows to develop a minimum number of these equations. There are three problems. First: algorithmic selection of position coordinates; second: condensation of the dynamic equations; third: evaluation of the constraint forces. To demonstrate the procedure, a closed loop multibody system is used as an example. (Less)
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author
organization
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Contribution to journal
publication status
published
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in
Computer Methods in Applied Mechanics and Engineering
volume
46
issue
2
pages
169 - 175
publisher
Elsevier
ISSN
0045-7825
language
English
LU publication?
yes
id
e4b905c9-d2c8-4fe6-9817-ed0f97cf0763 (old id 1414296)
alternative location
http://ida.lub.lu.se/cgi-bin/elsevier_local?YYEN0110-B-00457825-V0046I02-84900598
date added to LUP
2009-06-04 12:30:22
date last changed
2017-02-13 13:07:14
@article{e4b905c9-d2c8-4fe6-9817-ed0f97cf0763,
  abstract     = {Consider a spatial multibody system with rigid and elastic bodies. The bodies are linked by rigid interconnections (e.g. revolute joints) causing constraints, as well as by flexible interconnections (e.g. springs) causing applied forces. Small motions of the system with respect to a given nominal configuration can be described by linearized dynamic equations and kinematic constraint equations. We present a computer-oriented procedure which allows to develop a minimum number of these equations. There are three problems. First: algorithmic selection of position coordinates; second: condensation of the dynamic equations; third: evaluation of the constraint forces. To demonstrate the procedure, a closed loop multibody system is used as an example.},
  author       = {Führer, Claus and Wallrapp, Oskar},
  issn         = {0045-7825},
  language     = {eng},
  number       = {2},
  pages        = {169--175},
  publisher    = {Elsevier},
  series       = {Computer Methods in Applied Mechanics and Engineering},
  title        = {A computer-oriented method for reducing linearized multibody equations by incorporating constraints},
  volume       = {46},
  year         = {1984},
}