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• W2002133223 abstract "Contemporary software systems used in the dynamic simulation of rigid bodies suffer from problems in accuracy, performance, and robustness. Significant allowances for parameter tuning, coupled with the careful implementation of a broad phase collision detection scheme is required to make dynamic simulation useful for practical applications. A geometrically accurate constraint formulation, the Polyhedral Exact Geometry method, is presented. The Polyhedral Exact Geometry formulation is similar to the well-known Stewart-Trinkle formulation, but extended to produce unilateral constraints that are geometrically correct in cases where polyhedral bodies have a locally non-convex free space. The PEG method is less dependent on broad-phase collision detection or system tuning than similar methods, demonstrated by several examples. Uncomplicated benchmark examples are presented to analyze and compare the new Polyhedral Exact Geometry formulation with the well-known Stewart-Trinkle and Anitescu-Potra methods. The behavior and performance for the methods are discussed. This includes specific cases where contemporary methods fail to match theorized and observed system states in simulation, and how they are ameliorated by PEG." @default.
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• W2002133223 date "2013-08-04" @default.
• W2002133223 modified "2023-09-26" @default.
• W2002133223 title "Evaluating the Performance of Constraint Formulations for Multibody Dynamics Simulation" @default.
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• W2002133223 doi "https://doi.org/10.1115/detc2013-12265" @default.
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