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A Numerical Integration Algorithm Based on the Introduction of a Constraint Violation Factor

  • P. Dehombreux
  • C. Conti
  • O. Verlinden
Conference paper
Part of the International Union of Theoretical and Applied Mechanics book series (IUTAM)

Abstract

The direct dynamic solution approach developed here for closed-chain mechanisms is based on Lagrangian formalism, relative coordinates and constraint equations derived from loop-closure conditions. In this way, the dynamical problem is formulated as a system of Lagrange differential equations in the relative coordinates, accompanied by second-order constraints, these equations are linear in the second-order terms and are solved by a numerical integration procedure. Integration algorithms determine numerical stability and global features of direct dynamic analysis in a large extent.

Keywords

Geometric Constraint Constraint Violation Integration Algorithm Numerical Integration Algorithm Numerical Integration Procedure 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    Baumgarte: Stabilization of Constraints and Integrals of Motion in Dynamical Systems. Computer Methods in Applied Mechanics and Engineering, Vol.1, 1972, pages 1–16.CrossRefMATHADSMathSciNetGoogle Scholar
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    Becquet: Validation théorique et expérimentale de modèles dynamiques direct et inverse de mécanismes articulés à structure cinématique complexe: application à la robotique. Thèse de Doctorat en Sciences Appliquées, Université Libre de Bruxelles, 1987.Google Scholar
  3. [3]
    Chang, Nikravesh: An Adaptative Constraint Violation Stabilization Method for Dynamic Analysis of Mechanical Systems. Transactions ASME, Journal of Mechanisms, Transmissions, and Automation in Design, Dec 85, Vo.107, pp 488-492.Google Scholar
  4. [4]
    Sheth: A Digital Computer Based Simulation Procedure for Multiple Degree of Freedom Mechanical Systems With Geometric Constraints. Thèse University of Wisconsin, Ph.D., 1972.Google Scholar

Copyright information

© Springer-Verlag, Berlin Heidelberg 1991

Authors and Affiliations

  • P. Dehombreux
    • 1
  • C. Conti
    • 1
  • O. Verlinden
    • 1
  1. 1.Service de Mécanique RationnelleFaculté Polytechnique de MonsMonsBelgium

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