TY  - EJOU
AU  - Rochinha, Fernando A.  
AU  - Sampaio, Rubens  

TI  - Non-Linear Rigid Body Dynamics: Energy and Momentum Conserving Algorithm
T2  - Computer Modeling in Engineering \& Sciences

PY  - 2000
VL  - 1
IS  - 2
SN  - 1526-1506

AB  - 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.
KW  - rigid body
KW  -  nonlinear dynamics
KW  -  conservation

DO  - 10.3970/cmes.2000.001.167