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Dynamic analysis of spatial flexible multibody systems using joint co‐ordinates
Author(s) -
Pereira M. S.,
Proença P. L.
Publication year - 1991
Publication title -
international journal for numerical methods in engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.421
H-Index - 168
eISSN - 1097-0207
pISSN - 0029-5981
DOI - 10.1002/nme.1620320816
Subject(s) - ordinate , multibody system , kinematics , equations of motion , modal , mathematics , modal analysis , mathematical analysis , finite element method , algorithm , computer science , geometry , classical mechanics , structural engineering , physics , engineering , chemistry , polymer chemistry
Abstract This paper presents a systematic method for deriving the minimum number of equations of motion for spatial flexible multibody systems. Relative kinematics are developed using relative joint co‐ordinates and relative joint velocities to formulate a minimum number of equations of motion. The present method takes advantage of the simplicity of the absolute co‐ordinate formulation and computational efficiency of the relative joint co‐ordinate formulation. The system equations of motion are first formulated in terms of a coupled set of absolute reference co‐ordinates and elastic modal co‐ordinates. These equations are transformed to the joint co‐ordinate space by use of a velocity transformation matrix including the elastic modal velocities. A computer algorithm is proposed and extended to closed loop mechanisms. One example of a flexible vehicle is presented and the results are discussed to illustrate the computational efficiency of the method.