This paper presents a computer-based method for formulation and efficient solution of nonlinear, constrained differential equations of motion for spatial dynamic analysis of mechanical systems. Nonlinear holonomic constraint equations and differential equations of motion are written in terms of a maximal set of Cartesian generalized coordinates, three translational and four rotational coordinates for each rigid body in the system, where the rotational coordinates are the Euler parameters. A numerical integration algorithm with positive-error control, employing a predictor-corrector algorithm with variable order and step size, integrates for only the independent variables, yet effectively determines dependent variables.
ASJC Scopus subject areas
- Mechanical Engineering