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A structure preserving approach to the simulation of non‐smooth dynamics
Author(s) -
Koch Michael W.,
Leyendecker Sigrid
Publication year - 2014
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201410024
Subject(s) - computation , symplectic geometry , dynamics (music) , integrator , consistency (knowledge bases) , momentum (technical analysis) , rigid body dynamics , mathematics , classical mechanics , computer science , mathematical analysis , physics , geometry , rigid body , algorithm , computer network , bandwidth (computing) , finance , acoustics , economics
The investigated multibody dynamics involve perfectly elastic, partially elastic and perfectly plastic contacts and a structure preserving approach is used in forward dynamics and optimal control simulations. The applied mechanical integrator is based on a constrained version of the Lagrange‐d’Alembert principle and it represents exactly the behaviour of the analytical solution concerning the consistency of momentum maps and symplecticity: it is called symplectic momentum scheme. To guarantee the geometric exactness during the establishing or releasing of contacts, the non‐smooth problem is solved including the computation of the contact configuration, time and force, instead of relying on a smooth approximation of the contact problem via a penalty potential. (© 2014 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)