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• W2040584803 abstract "This paper presents a new parallel algorithm for dynamics simulation of general multibody systems. The developed formulations are iterative and possess divide and conquer structure. The constraints equations are imposed at the acceleration level. Augmented Lagrangian methods with mass-orthogonal projections are used to prevent from constraint violation errors. The proposed approaches treat tree topology mechanisms or multibody systems which contain kinematic closed loops in a uniform manner and can handle problems with rank deficient Jacobian matrices. Test case results indicate good accuracy performance dependent on the expense put in the iterative correction of constraint equations. Good numerical properties and robustness of the algorithms are observed when handling systems with single and coupled kinematic loops, redundant constraints, which may repeatedly enter singular configurations." @default.
• W2040584803 created "2016-06-24" @default.
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• W2040584803 date "2012-07-03" @default.
• W2040584803 modified "2023-10-17" @default.
• W2040584803 title "A divide and conquer algorithm for constrained multibody system dynamics based on augmented Lagrangian method with projections-based error correction" @default.
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• W2040584803 doi "https://doi.org/10.1007/s11071-012-0503-2" @default.
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