A simple and highly parallelizable method for real-time dynamic simulation based on velocity transformations

DOI10.1016/0045-7825(93)90072-6zbMath0781.70002OpenAlexW2094052055MaRDI QIDQ1309904

Javier García de Jalón, Eduardo Bayo, Alejo Avello, José Manuel Jiménez

Publication date: 6 January 1994

Published in: Computer Methods in Applied Mechanics and Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0045-7825(93)90072-6

zbMATH Keywords

penalty formulationhuman bodyheavy truckopen- and closed-loop multi-rigid-body systemsopen-loop projected mass matrixrelative joint coordinatessemi-recursive algorithm

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Biomechanics (92C10) Parallel numerical computation (65Y05) Dynamics of a rigid body and of multibody systems (70E99)

Related Items

Non-intrusive parallelization of multibody system dynamic simulations, Influence of selected modeling and computational issues on muscle force estimates, Energy-consistent simulation of frictional contact in rigid multibody systems using implicit surfaces and penalty method, An optimization method for overdetermined kinematic problems formulated with natural coordinates, Reduced-order forward dynamics of multiclosed-loop systems, Three-dimensional formulation of rigid-flexible multibody systems with flexible beam elements, A straight methodology to include multibody dynamics in graduate and undergraduate subjects, Stability and bifurcation analysis of a modified geometrically nonlinear orthotropic Jeffcott model with internal damping, An internal damping model for the absolute nodal coordinate formulation, A multi-index variable time step method for the dynamic simulation of multibody systems, Cluster computing of mechanisms dynamics using recursive formulation, Efficient Coarse-Grained Molecular Simulations in the Multibody Dynamics Scheme

Cites Work

• A modified Lagrangian formulation for the dynamic analysis of constrained mechanical systems
• An excursion into large rotations
• An efficient algorithm for computation of manipulator inertia matrix
• The Structure of Multibody Dynamics Equations
• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item