Dynamic analysis of large-scale mechanical systems and animated graphics

This paper presents a computer-based method for formulation and solution of coupled differential and algebraic equations describing large-scale mechanical systems, including feedback control, aerodynamic forces, and other multidisciplinary effects that interact with the mechanical system. A Euler parameter repersentation of the configuration of the mechanical system is employed to obtain singularity free solution for generalized coordinates and a much simplified algebraic formulation of the governing system of equations, compared with the more classical Euler angle generalized coordinate formulation. A generalized coordinate partitioning algorithm is employed to identify independent generalized coordinates automatically and reduce the dimension of the numerical integration problem. Animated graphics output is employed to assist in visualization of dynamic performance of several systems-a parachute descending in air, an aircraft landing on a damaged runway, and a truck with flexible chassis.