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Non-Linear Rigid Body Dynamics: Energy and Momentum Conserving Algorithm

Fernando A. Rochinha1, Rubens Sampaio2
Mechanical Engineering Department, EE-COPPE-UFRJ Cx. Postal 68503; 21945-970, Rio de Janeiro, RJ; Brazil
Mechanical Engineering Department– PUC-Rio Rua Marquês de São Vicente, 225; 22453-900, Rio de Janeiro, RJ; Brazil

Computer Modeling in Engineering & Sciences 2000, 1(2), 7-18.


The dynamics of flexible systems, such as robot manipulators, mechanical chains or cables, is becoming increasingly important in engineering. The main question arising from the numerical modelling of large overall motions of multibody systems is an appropriate treatment for the large rotations. In the present work an alternative approach is proposed leading to a time-stepping numerical algorithm which achieves stable solutions combined with high precision. In particular, in order to check the performance of the proposed approach, two examples having preserved constants of the motion are presented.


rigid body, nonlinear dynamics, conservation

Cite This Article

Rochinha, F. A., Sampaio, R. (2000). Non-Linear Rigid Body Dynamics: Energy and Momentum Conserving Algorithm. CMES-Computer Modeling in Engineering & Sciences, 1(2), 7–18.

This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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