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

Torque Hone 

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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
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    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
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    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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