Journal
MULTIBODY SYSTEM DYNAMICS
Volume 11, Issue 1, Pages 41-61Publisher
SPRINGER
DOI: 10.1023/B:MUBO.0000014901.06757.bb
Keywords
time integration; DAE systems; energy preservation
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This paper describes an energy preserving integration method for the dynamic analysis of nonlinear multibody systems in the presence of nonlinear constraints. The aspects of finite rotation incrementation, discrete energy conservation and the most common constraint types are examined in detail. The application is made to several rigid body examples, including an intermittent contact problem.
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