The contribution at hand deals with the energy-consistent time integration of hybrid multibody systems. The coupling of both rigid and flexible components is facilitated by the introduction of so called coupling constraints, leading to a set of differential algebraic equations governing the motion of the hybrid system. For the modeling of rigid components we rely on the so called rotationless formulation which makes possible the design of mechanical time integrators. In this connection modeling techniques such as the coordinate augmentation, nonholonomic constraints, control issues and modeling of joint friction will be addressed. This leads to a unified approach for the modeling of rigid and flexible bodies, rendering a hybrid-energy-momentum-consistent time stepping scheme. The performance will be demonstrated with the example of a spatial nonholonomic manipulator.
Higher order event capturing time-stepping schemes for nonsmooth multibody systems with unilateral constraints and impacts
