A Discrete Quasi-Coordinate Formulation for the Dynamics of Elastic Bodies

2006 ◽  
Vol 74 (2) ◽  
pp. 231-239 ◽  
Author(s):  
G. M. T. D’Eleuterio ◽  
T. D. Barfoot
Keyword(s):  
Equations Of Motion ◽  
Computational Cost ◽  
Dynamical Equations ◽  
Generalized Coordinates ◽  
Order Form ◽  
Elastic Bodies ◽  
Alternative Approach ◽  
Elastic Systems ◽  
Computationally Intensive ◽  
Derivatives Of

The discretized equations of motion for elastic systems are typically displayed in second-order form. That is, the elastic displacements are represented by a set of discretized (generalized) coordinates, such as those used in a finite-element method, and the elastic rates are simply taken to be the time-derivatives of these displacements. Unfortunately, this approach leads to unpleasant and computationally intensive inertial terms when rigid rotations of a body must be taken into account, as is so often the case in multibody dynamics. An alternative approach, presented here, assumes the elastic rates to be discretized independently of the elastic displacements. The resulting dynamical equations of motion are simplified in form, and the computational cost is correspondingly lessened. However, a slightly more complex kinematical relation between the rate coordinates and the displacement coordinates is required. This tack leads to what may be described as a discrete quasi-coordinate formulation.

On First-Order Decoupling of Equations of Motion for Constrained Dynamical Systems

1993 ◽  
Author(s):  
Timothy A. Loduha ◽  
Bahram Ravani
Keyword(s):  
Dynamical Systems ◽  
Equations Of Motion ◽  
Relaxation Method ◽  
Nonholonomic Systems ◽  
Dynamical Equations ◽  
Generalized Coordinates ◽  
First Order ◽  
Constraint Relaxation ◽  
Constrained Dynamical Systems ◽  
Generalized Coordinate

Abstract In this paper we present a method for obtaining first-order decoupled equations of motion for multi-rigid body systems. The inherent flexibility in choosing generalized velocity components as a function of generalized coordinates is used to influence the structure of the resulting dynamical equations. Initially, we describe how a congruency transformation can be formed that represents the transformation between generalized velocity components and generalized coordinate derivatives. It is shown that the proper choice for the congruency transformation will insure generation of first-order decoupled equations of motion for holonomic systems. In the case of nonholonomic systems, or more complex dynamical systems, where the appropriate congruency transformation may be difficult to obtain, we present a constraint relaxation method based on the use of orthogonal complements. The results are illustrated using several examples. Finally, we discuss numerical implementation of congruency transformations to achieve first-order decoupled equations for simulation purposes.

Divide-and-Conquer-Based Large Deformation Formulations for Multi-Flexible Body Systems

2013 ◽  
Author(s):  
Imad M. Khan ◽  
Kurt S. Anderson
Keyword(s):  
Modeling And Simulation ◽  
Role Model ◽  
Equations Of Motion ◽  
Computational Cost ◽  
Divide And Conquer ◽  
Model Complexity ◽  
Flexible Body ◽  
Elastic Bodies ◽  
Large Rotations ◽  
High Computational Cost

In the dynamic modeling and simulation of multi-flexible-body systems, large deformations and rotations has been a focus of keen interest. The reason is a wide variety of application area where highly elastic components play important role. Model complexity and high computational cost of simulations are the factors that contribute to the difficulty associated with these systems. As such, an efficient algorithm for modeling and simulation of systems undergoing large rotations and large deflections may be of great importance. We investigate the use of absolute nodal coordinate formulation (ANCF) for modeling articulated flexible bodies in a divide-and-conquer (DCA) framework. It is demonstrated that the equations of motion for individual finite elements or elastic bodies, as obtained by the ANCF, may be assembled and solved using a DCA type method. The current discussion is limited to planar problems but may easily be extended to spatial applications. Using numerical examples, we show that the present algorithm provides an efficient and robust method to model multibody systems employing highly elastic bodies.

On First-Order Decoupling of Equations of Motion for Constrained Dynamical Systems

1995 ◽  
Vol 62 (1) ◽  
pp. 216-222 ◽  
Author(s):  
T. A. Loduha ◽  
B. Ravani
Keyword(s):  
Dynamical Systems ◽  
Equations Of Motion ◽  
Nonholonomic Systems ◽  
Numerical Implementation ◽  
Dynamical Equations ◽  
Generalized Coordinates ◽  
First Order ◽  
Holonomic Systems ◽  
Constrained Dynamical Systems ◽  
Generalized Coordinate

In this paper we present a method for obtaining first-order decoupled equations of motion for multirigid body systems. The inherent flexibility in choosing generalized velocity components as a function of generalized coordinates is used to influence the structure of the resulting dynamical equations. Initially, we describe how a congruency transformation can be formed that represents the transformation between generalized velocity components and generalized coordinate derivatives. It is shown that the proper choice for the congruency transformation will insure generation of first-order decoupled equations of motion for holonomic systems. In the case of nonholonomic systems, or holonomic systems with unreduced configuration coordinates, we incorporate an orthogonal complement in conjunction with the congruency transformation. A pair of examples illustrate the results. Finally, we discuss numerical implementation of congruency transformations to achieve first-order decoupled equations for simulation purposes.

Variable Degree-of-Freedom Component Mode Analysis of Inertia Variant Flexible Mechanical Systems

1983 ◽  
Vol 105 (3) ◽  
pp. 371-378 ◽  
Author(s):  
A. Shabana ◽  
R. A. Wehage
Keyword(s):  
Equations Of Motion ◽  
Mechanical Systems ◽  
Mode Analysis ◽  
Variable Degree ◽  
Transient Dynamic Analysis ◽  
Flexible Bodies ◽  
Generalized Coordinates ◽  
Elastic Bodies ◽  
Body Reference ◽  
Angular Displacements

A method is presented for transient dynamic analysis of mechanical systems composed of interconnected rigid and flexible bodies that undergo large angular displacements. Gross displacement of elastic bodies is represented by superposition of local linear elastic deformation on nonlinear displacement of body reference coordinate systems. Flexible bodies are thus represented by combined sets of reference and local elastic generalized coordinates. Modal analysis and sub-structuring of the local elastic system identifies all modes and allows for elimination of insignificant modes. Equations of motion and constraints are formulated in terms of minimum mixed sets of modal and reference generalized coordinates, and dynamically adjusted to a time and interia-variant eigenspectrum. A flexible mechanical linkage and a tracked vehicle with a flexible gun tube are simulated to illustrate the method.

An Ordinary Differential Equation Formulation for Multibody Dynamics: Holonomic Constraints

2016 ◽  
Vol 16 (2) ◽  
Author(s):  
Edward J. Haug
Keyword(s):  
Mass Matrix ◽  
Equations Of Motion ◽  
Computational Cost ◽  
State Variables ◽  
Generalized Coordinates ◽  
Constraint Manifold ◽  
Local Coordinates ◽  
Numerical Integrators ◽  
Well Conditioning ◽  
Spinning Top

A method is presented for formulating and numerically integrating ordinary differential equations (ODEs) of motion for holonomically constrained multibody systems. Tangent space coordinates are defined as independent generalized coordinates that serve as state variables in the formulation, yielding ODEs of motion. Orthogonal dependent coordinates are used to enforce kinematic constraints at position, velocity, and acceleration levels. Criteria that assure accuracy of constraint satisfaction and well conditioning of the reduced mass matrix in the equations of motion are used as the basis for redefining local coordinates on the constraint manifold, as needed, transparent to the user and at minimal computational cost. The formulation is developed for holonomically constrained multibody models that are based on essentially any form of generalized coordinates. A spinning top with Euler parameter orientation coordinates is used as a model problem to analytically reduce Euler's equations of motion to ODEs. Numerical results using a fourth-order Nystrom integrator verify that accurate results are obtained, satisfying position, velocity, and acceleration constraints to computer precision. A computational algorithm for implementing the approach with state-of-the-art explicit numerical integrators is presented and used in solution of three examples, one planar and two spatial. Performance of the method in satisfying all three forms of kinematic constraint, based on error tolerances embedded in the formulation, is verified.

scholarly journals A Fast Estimator for Binary Choice Models with Spatial, Temporal, and Spatio-Temporal Interdependence

2021 ◽  
pp. 1-7
Author(s):  
Julian Wucherpfennig ◽  
Aya Kachi ◽  
Nils-Christian Bormann ◽  
Philipp Hunziker
Keyword(s):  
Computational Cost ◽  
Choice Models ◽  
Reduced Form ◽  
Binary Choice ◽  
Monte Carlo Experiments ◽  
Binary Choice Models ◽  
Spatio Temporal ◽  
Computationally Intensive ◽  
Pseudo Maximum Likelihood ◽  
Parameter Values

Abstract Binary outcome models are frequently used in the social sciences and economics. However, such models are difficult to estimate with interdependent data structures, including spatial, temporal, and spatio-temporal autocorrelation because jointly determined error terms in the reduced-form specification are generally analytically intractable. To deal with this problem, simulation-based approaches have been proposed. However, these approaches (i) are computationally intensive and impractical for sizable datasets commonly used in contemporary research, and (ii) rarely address temporal interdependence. As a way forward, we demonstrate how to reduce the computational burden significantly by (i) introducing analytically-tractable pseudo maximum likelihood estimators for latent binary choice models that exhibit interdependence across space and time and by (ii) proposing an implementation strategy that increases computational efficiency considerably. Monte Carlo experiments show that our estimators recover the parameter values as good as commonly used estimation alternatives and require only a fraction of the computational cost.

scholarly journals A brief review of E theory

2016 ◽  
Vol 31 (26) ◽  
pp. 1630043 ◽  
Author(s):  
Peter West
Keyword(s):  
Infinite Number ◽  
Equations Of Motion ◽  
Space Time ◽  
Unified Theory ◽  
Dynamical Equations ◽  
Supergravity Theory ◽  
Maximal Supergravity ◽  
Abdus Salam ◽  
Strings And Branes ◽  
Time Lead

I begin with some memories of Abdus Salam who was my PhD supervisor. After reviewing the theory of nonlinear realisations and Kac–Moody algebras, I explain how to construct the nonlinear realisation based on the Kac–Moody algebra [Formula: see text] and its vector representation. I explain how this field theory leads to dynamical equations which contain an infinite number of fields defined on a space–time with an infinite number of coordinates. I then show that these unique dynamical equations, when truncated to low level fields and the usual coordinates of space–time, lead to precisely the equations of motion of 11-dimensional supergravity theory. By taking different group decompositions of [Formula: see text] we find all the maximal supergravity theories, including the gauged maximal supergravities, and as a result the nonlinear realisation should be thought of as a unified theory that is the low energy effective action for type II strings and branes. These results essentially confirm the [Formula: see text] conjecture given many years ago.

scholarly journals Closed-form time derivatives of the equations of motion of rigid body systems

2021 ◽  
Author(s):  
Andreas Müller ◽  
Shivesh Kumar
Keyword(s):  
Rigid Body ◽  
Closed Form ◽  
Multibody Systems ◽  
Equations Of Motion ◽  
Alternative Formulation ◽  
Dynamics Of Rigid Body ◽  
Control Forces ◽  
And Control ◽  
Derivatives Of ◽  
Insight Into

AbstractDerivatives of equations of motion (EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody systems comprising elastic components in particular, not only requires smooth trajectories but also the time derivatives of the control forces/torques, hence of the EOM. This paper presents the time derivatives of the EOM in closed form up to second-order as an alternative formulation to the existing recursive algorithms for this purpose, which provides a direct insight into the structure of the derivatives. The Lie group formulation for rigid body systems is used giving rise to very compact and easily parameterized equations.

scholarly journals Numerical approximation for the solution of linear sixth order boundary value problems by cubic B-spline

2019 ◽  
Vol 2019 (1) ◽  
Author(s):  
A. Khalid ◽  
M. N. Naeem ◽  
P. Agarwal ◽  
A. Ghaffar ◽  
Z. Ullah ◽  
...  
Keyword(s):  
Numerical Approximation ◽  
Analytic Solution ◽  
Linear Equations ◽  
Computational Cost ◽  
Spline Method ◽  
System Of Linear Equations ◽  
Approximation Solution ◽  
B Spline ◽  
Novel Technique ◽  
Derivatives Of

AbstractIn the current paper, authors proposed a computational model based on the cubic B-spline method to solve linear 6th order BVPs arising in astrophysics. The prescribed method transforms the boundary problem to a system of linear equations. The algorithm we are going to develop in this paper is not only simply the approximation solution of the 6th order BVPs using cubic B-spline, but it also describes the estimated derivatives of 1st order to 6th order of the analytic solution at the same time. This novel technique has lesser computational cost than numerous other techniques and is second order convergent. To show the efficiency of the proposed method, four numerical examples have been tested. The results are described using error tables and graphs and are compared with the results existing in the literature.

Flexible Multibody Dynamics Formulation by Hamilton’s Equations

2010 ◽  
Author(s):  
Martin M. Tong
Keyword(s):  
Multibody Dynamics ◽  
Multibody System ◽  
Mass Matrix ◽  
Equations Of Motion ◽  
Flexible Multibody Dynamics ◽  
Flexible Body ◽  
Flexible Multibody System ◽  
Generalized Coordinates ◽  
Flexible Multibody ◽  
The Matrix

Numerical solution of the dynamics equations of a flexible multibody system as represented by Hamilton’s canonical equations requires that its generalized velocities q˙ be solved from the generalized momenta p. The relation between them is p = J(q)q˙, where J is the system mass matrix and q is the generalized coordinates. This paper presents the dynamics equations for a generic flexible multibody system as represented by p˙ and gives emphasis to a systematic way of constructing the matrix J for solving q˙. The mass matrix is shown to be separable into four submatrices Jrr, Jrf, Jfr and Jff relating the joint momenta and flexible body mementa to the joint coordinate rates and the flexible body deformation coordinate rates. Explicit formulas are given for these submatrices. The equations of motion presented here lend insight to the structure of the flexible multibody dynamics equations. They are also a versatile alternative to the acceleration-based dynamics equations for modeling mechanical systems.

Sign in / Sign up

Export Citation Format

Share Document