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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. https://doi.org/10.3970/cmes.2000.001.167

Abstract

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.

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APA Style
Rochinha, F.A., Sampaio, R. (2000). Non-linear rigid body dynamics: energy and momentum conserving algorithm. Computer Modeling in Engineering & Sciences, 1(2), 7-18. https://doi.org/10.3970/cmes.2000.001.167
Vancouver Style
Rochinha FA, Sampaio R. Non-linear rigid body dynamics: energy and momentum conserving algorithm. Comput Model Eng Sci. 2000;1(2):7-18 https://doi.org/10.3970/cmes.2000.001.167
IEEE Style
F.A. Rochinha and R. Sampaio, "Non-Linear Rigid Body Dynamics: Energy and Momentum Conserving Algorithm," Comput. Model. Eng. Sci., vol. 1, no. 2, pp. 7-18. 2000. https://doi.org/10.3970/cmes.2000.001.167



cc Copyright © 2000 The Author(s). Published by Tech Science Press.
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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