Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra Operator
Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kin...
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| Language: | English |
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Wiley
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/409402 |
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| author | Mohamed A. Omar |
| author_facet | Mohamed A. Omar |
| author_sort | Mohamed A. Omar |
| collection | DOAJ |
| description | Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can eliminate these transients and lead to stable simulation. Most exiting multibody formulations determine the static equilibrium position by minimizing the system potential energy. This paper presents a new general purpose approach for solving the static equilibrium in large-scale articulated multibody. The proposed approach introduces an energy drainage mechanism based on Baumgarte constraint stabilization approach to determine the static equilibrium position. The spatial algebra operator is used to express the kinematic and dynamic equations of the closed-loop multibody system. The proposed multibody system formulation utilizes the joint coordinates and modal elastic coordinates as the system generalized coordinates. The recursive nonlinear equations of motion are formulated using the Cartesian coordinates and the joint coordinates to form an augmented set of differential algebraic equations. Then system connectivity matrix is derived from the system topological relations and used to project the Cartesian quantities into the joint subspace leading to minimum set of differential equations. |
| format | Article |
| id | doaj-art-9fe92fd4e32c415da1f6e55d8496d317 |
| institution | OA Journals |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-9fe92fd4e32c415da1f6e55d8496d3172025-08-20T02:20:41ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/409402409402Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra OperatorMohamed A. Omar0Mechanical Engineering Department, Taibah University, Almadinah Almonawwarah 42353, Saudi ArabiaInitial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can eliminate these transients and lead to stable simulation. Most exiting multibody formulations determine the static equilibrium position by minimizing the system potential energy. This paper presents a new general purpose approach for solving the static equilibrium in large-scale articulated multibody. The proposed approach introduces an energy drainage mechanism based on Baumgarte constraint stabilization approach to determine the static equilibrium position. The spatial algebra operator is used to express the kinematic and dynamic equations of the closed-loop multibody system. The proposed multibody system formulation utilizes the joint coordinates and modal elastic coordinates as the system generalized coordinates. The recursive nonlinear equations of motion are formulated using the Cartesian coordinates and the joint coordinates to form an augmented set of differential algebraic equations. Then system connectivity matrix is derived from the system topological relations and used to project the Cartesian quantities into the joint subspace leading to minimum set of differential equations.http://dx.doi.org/10.1155/2014/409402 |
| spellingShingle | Mohamed A. Omar Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra Operator The Scientific World Journal |
| title | Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra Operator |
| title_full | Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra Operator |
| title_fullStr | Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra Operator |
| title_full_unstemmed | Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra Operator |
| title_short | Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra Operator |
| title_sort | static analysis of large scale multibody system using joint coordinates and spatial algebra operator |
| url | http://dx.doi.org/10.1155/2014/409402 |
| work_keys_str_mv | AT mohamedaomar staticanalysisoflargescalemultibodysystemusingjointcoordinatesandspatialalgebraoperator |