Open Access

ARTICLE

Non-Linear Rigid Body Dynamics: Energy and Momentum Conserving Algorithm

by Fern,o A. Rochinha¹, Rubens Sampaio²

1 Mechanical Engineering Department, EE-COPPE-UFRJ Cx. Postal 68503; 21945-970, Rio de Janeiro, RJ; Brazil
2 Mechanical Engineering Department– PUC-Rio Rua Marquês de São Vicente, 225; 22453-900, Rio de Janeiro, RJ; Brazil

Computer Modeling in Engineering & Sciences 2000, 1(2), 7-18. https://doi.org/10.3970/cmes.2000.001.167

Abstract

The dynamics of flexible systems, such as robot manipulators, mechanical chains or cables, is becoming increasingly important in engineering. The main question arising from the numerical modelling of large overall motions of multibody systems is an appropriate treatment for the large rotations. In the present work an alternative approach is proposed leading to a time-stepping numerical algorithm which achieves stable solutions combined with high precision. In particular, in order to check the performance of the proposed approach, two examples having preserved constants of the motion are presented.

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