Other Useful Modeling and Simulation Techniques
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In this chapter, two other useful modeling and simulation methodologies are presented, which complement the classical codes reported in Chapters 5 and 6, and, to some extent, augment the tools of analysis of multibody systems and the range of applications. The augmented Lagrangian formulation provides one with an alternative computationally efficient numerical code for simulation of multibody systems described in terms of dependent states and implicitly given constraint equations, with the application area extended over some limitations that burden the other formulations of this type. The augmented joint coordinate method supplements the classical joint coordinate code for open-loop systems with an effective and naturally assisted scheme for the determination of joint reactions, with some extensions to closed-loop systems as well.
KeywordsMultibody System Redundant Constraint Multibody System Dynamics Penalty Formulation Constraint Reaction
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