On the consistent formulation of torques in a rotationless framework for multibody dynamics

A rotationless formulation of flexible multibody dynamics in terms of natural coordinates is considered. Since natural coordinates do not comprise rotational parameters, the consistent formulation and numerical discretization of actuating torques becomes an issue. In particular, the straightforward...

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Bibliographic Details
Published in:Computers & structures 2013-10, Vol.127, p.29-38
Main Authors: Betsch, P., Sänger, N.
Format: Article
Language:English
Subjects:
Angular momentum
Computer simulation
Conjugates
Cosserat solids
Discretization
Dynamics
Energy–momentum method
Flexible multibody dynamics
Law
Mathematical models
Natural coordinates
Rotational
Structure-preserving time integration
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Summary:A rotationless formulation of flexible multibody dynamics in terms of natural coordinates is considered. Since natural coordinates do not comprise rotational parameters, the consistent formulation and numerical discretization of actuating torques becomes an issue. In particular, the straightforward time discretization of the forces conjugate to natural coordinates may lead to a significant violation of the balance law for angular momentum. The present work shows that the theory of Cosserat points paves the way for the consistent incorporation and discretization of actuating torques. The newly proposed method adds to the energy–momentum consistent numerical integration of flexible multibody dynamics.
ISSN:0045-7949
1879-2243
DOI:10.1016/j.compstruc.2012.10.005