☆ 4.7 Article

A unified analytical expression of the tangent stiffness matrix of holonomic constraints

COMPUTER METHODS IN APPLIED MECHANICS AND ENGINEERING (2024)

Complex Eigenvalue Analysis of Multibody Problems via Sparsity-Preserving Krylov-Schur Iterations

Dario Mangoni et al.

Summary: In this work, we discuss the numerical challenges of calculating the complex eigenvalues of damped multi-flexible-body problems. We propose a custom implementation of the Krylov-Schur method that can handle arbitrary rigid body modes, algebraic constraints, and exploit the sparsity pattern of large system Jacobians. The robustness and accuracy of our method are demonstrated in various complex test cases.

MACHINES (2023)

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Article Engineering, Mechanical

A practical algorithm for smooth interpolation between different angular positions

Giovanni Legnani et al.

Summary: This paper introduces a new interpolation methodology for generating smooth 3D rotation poses with continuity in orientation, angular velocity, and angular acceleration. The proposed approach boasts a straightforward formulation, reduced computational burden, and lack of iterative procedures, making it suitable for applications in mechanical systems motion and 3D computer graphics.

MECHANISM AND MACHINE THEORY (2021)

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Article Computer Science, Software Engineering