Parallel Algorithm for Constrained Multi-Rigid Body System Dynamics in Generalized Topologies

2013 ◽  
Author(s):  
Rudranarayan Mukherjee
Keyword(s):  
Rigid Body ◽  
Parallel Implementation ◽  
Equations Of Motion ◽  
Closed Loops ◽  
Efficient Simulation ◽  
Disassembly Process ◽  
Relative Coordinates ◽  
Kinematic Loops ◽  
Absolute Coordinates ◽  
The Individual

This paper presents an algorithm for modeling the dynamics of multi-rigid body systems in generalized topologies including topologies with closed kinematic loops that may or may not be coupled together. The algorithm uses a hierarchic assembly disassembly process in parallel implementation and a recursive assembly disassembly process in serial implementation to achieve highly efficient simulation turn-around times. The kinematic constraints are imposed using the formalism of kinematic joints that are modeled using motion spaces and their orthogonal complements. A mixed set of coordinates are used viz. absolute coordinates to develop the equations of motion and internal or relative coordinates to impose the constraints. The equations of motion are posed in terms of operational inertias to capture the nonlinear coupling between the dynamics of the individual components of the system. Einstein’s notation is used to explain the generality of the approach. Constraint impositions at the acceleration, velocity and configuration levels are discussed. The application of this algorithm in modeling a complex micro robot with multiple coupled closed loops is discussed.

Parallel Algorithm for Modeling Multi-Rigid Body System Dynamics With Nonholonomic Constraints

2013 ◽  
Author(s):  
Rudranarayan Mukherjee ◽  
Pawel Malczyk
Keyword(s):  
Rigid Body ◽  
Parallel Implementation ◽  
Equations Of Motion ◽  
Numerical Test ◽  
Nonholonomic Constraints ◽  
Test Case ◽  
Central Idea ◽  
Acceleration Level ◽  
Disassembly Process ◽  
Kinematic Joint

This paper presents a new algorithm for serial or parallel implementation of computer simulations of the dynamics of multi-rigid body systems subject to nonholonomic and holonomic constraints. The algorithm presents an elegant approach for eliminating the nonholonomic constraints explicitly from the equations of motion and implicitly expressing them in terms of nonlinear coupling in the operational inertias of the bodies subject to these constraints. The resulting equations are in the same form as those of a body subject to kinematic joint constraints. This enables the nonholohomic constraints to be seamlessly treated in either a (i) recursive or (ii) hierarchic assembly-disassembly process for solving the equations of motion of generalized multi-rigid body systems in serial or parallel implementations. The algorithm is non-iterative and although the nonholonomic constraints are imposed at the acceleration level, constraint satisfaction is excellent as demonstrated by the numerical test case implemented to verify the algorithm. The paper presents procedures for handling both cases where the nonholonomic constraints are imposed between terminal bodies of a system and the environment as well as when the constraints are imposed between bodies in the interior of the system topology. The algorithm uses a mixed set of coordinates and is built on the central idea of eliminating either constraint loads or relative accelerations from the equations of motion by projecting the equations of motion into the motion subspaces or their orthogonal complements.

Parallel Algorithm for Modeling Constrained Multi-Flexible Body System Dynamics

2013 ◽  
Author(s):  
Rudranarayan Mukherjee ◽  
Jeremy Laflin
Keyword(s):  
Parallel Implementation ◽  
Equations Of Motion ◽  
Small Deformation ◽  
The Body ◽  
Deformation Field ◽  
Flexible Body ◽  
Disassembly Process ◽  
Joint Constraints ◽  
Kinematic Loop ◽  
Kinematic Joint

This paper presents an algorithm for modeling the dynamics of multi-flexible body systems in closed kinematic loop configurations where the component bodies are modeled using the large displacement small deformation formulation. The algorithm uses a hierarchic assembly disassembly process in parallel implementation and a recursive assembly disassembly process in serial implementation to achieve highly efficient simulation turn-around times. The operational inertias arising from the rigid body modes of motion at the joint locations on a component body are modified to account for the nonlinear inertial effects and body forces arising from the body based deformations. Traditional issues, such as motion induced stiffness and temporal invariance of deformation field related inertia terms, are robustly addressed in this algorithm. The algorithm uses a mixed set of coordinates viz. (i) absolute coordinates for expressing the equations of motion of a body fixed reference frame, (ii) relative or internal coordinates to express the kinematic joint constraints and (iii) body fixed coordinates to account for the body’s deformation field. The kinematic joint constraints and the closed loop constraints are treated alike through the formalism of relative coordinates, joint motion spaces and their orthogonal complements. Verification of the algorithm is demonstrated using the planar fourbar mechanism problem that has been traditionally used in literature.

Dynamics of Multirigid-Body Systems

1978 ◽  
Vol 45 (4) ◽  
pp. 889-894 ◽  
Author(s):  
R. L. Huston ◽  
C. E. Passerello ◽  
M. W. Harlow
Keyword(s):  
Equations Of Motion ◽  
Mechanical Systems ◽  
Rigid Bodies ◽  
Computer Algorithms ◽  
Euler Parameters ◽  
Closed Loops ◽  
Explicit Formulation ◽  
Relative Coordinates ◽  
D'alembert's Principle

New and recently developed concepts and ideas useful in obtaining efficient computer algorithms for solving the equations of motion of multibody mechanical systems are presented and discussed. These ideas include the use of Euler parameters, Lagrange’s form of d’Alembert’s principle, quasi-coordinates, relative coordinates, and body connection arrays. The mechanical systems considered are linked rigid bodies with adjoining bodies sharing at least one point, and with no “closed loops” permitted. An explicit formulation of the equations of motion is presented.

Solution of Multibody Dynamics Using Natural Factors and Iterative Refinement: Part I — Open Kinematic Loops

1989 ◽  
Author(s):  
R. A. Wehage
Keyword(s):  
Sparse Matrices ◽  
Equations Of Motion ◽  
Iterative Refinement ◽  
Connectivity Matrix ◽  
Recursive Algorithms ◽  
Constraint Forces ◽  
Kinematic Chains ◽  
Kinematic Loops ◽  
Free Body ◽  
Absolute Coordinates

Abstract An O(n) methodology employing block matrix partitioning and recursive projection to solve multibody equations of motion coupled by a sparse connectivity matrix was developed in (Wehage 1988, 1989, Wehage and Shabana, 1989). These primitive equations, which include all joint generalized and absolute coordinates and constraint reaction forces, are easily obtained from free body diagrams. The corresponding recursive algorithms isolate the generalized joint accelerations for numerical integration and offer the best computational advantage when solving long kinematic chains on serial processors. Recursion, however, precludes effective exploitation of vector or parallel processors. Therefore this paper explores less recursive algorithms by applying the inverse of joint connectivity to eliminate absolute accelerations and constraint forces yielding a generalized system of equations. The resulting positive definite generalized inertia matrix is first represented symbolically as a product of sparse matrices, of which some are singular and then as the product of nonsingular factors obtained recursively. This algorithm has overhead ranging from O(n2) to O(n) depending on the degree of system parallelism. Incorporating iterative refinement and exploiting parallel and vector processing makes this approach competitive for many applications.

scholarly journals Closed-form time derivatives of the equations of motion of rigid body systems

2021 ◽  
Author(s):  
Andreas Müller ◽  
Shivesh Kumar
Keyword(s):  
Rigid Body ◽  
Closed Form ◽  
Multibody Systems ◽  
Equations Of Motion ◽  
Alternative Formulation ◽  
Dynamics Of Rigid Body ◽  
Control Forces ◽  
And Control ◽  
Derivatives Of ◽  
Insight Into

AbstractDerivatives of equations of motion (EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody systems comprising elastic components in particular, not only requires smooth trajectories but also the time derivatives of the control forces/torques, hence of the EOM. This paper presents the time derivatives of the EOM in closed form up to second-order as an alternative formulation to the existing recursive algorithms for this purpose, which provides a direct insight into the structure of the derivatives. The Lie group formulation for rigid body systems is used giving rise to very compact and easily parameterized equations.

scholarly journals New Approach to the Planetary Theory

1979 ◽  
Vol 81 ◽  
pp. 69-72 ◽  
Author(s):  
Manabu Yuasa ◽  
Gen'ichiro Hori
Keyword(s):  
Perturbation Method ◽  
Canonical Form ◽  
Equations Of Motion ◽  
Disturbing Function ◽  
Averaging Principle ◽  
The Sun ◽  
Planetary Theory ◽  
New Approach ◽  
Canonical Perturbation ◽  
Relative Coordinates

A new approach to the planetary theory is examined under the following procedure: 1) we use a canonical perturbation method based on the averaging principle; 2) we adopt Charlier's canonical relative coordinates fixed to the Sun, and the equations of motion of planets can be written in the canonical form; 3) we adopt some devices concerning the development of the disturbing function. Our development can be applied formally in the case of nearly intersecting orbits as the Neptune-Pluto system. Procedure 1) has been adopted by Message (1976).

Systematic Construction of the Equations of Motion for Multibody Systems Containing Closed Kinematic Loops

1989 ◽  
Author(s):  
P. E. Nikravesh ◽  
G. Gim
Keyword(s):  
Equations Of Motion ◽  
Transformation Matrix ◽  
Velocity Transformation ◽  
Constraint Equations ◽  
Advantages And Disadvantages ◽  
Lagrange Multiplier Technique ◽  
Joint Coordinates ◽  
Minimum Number ◽  
Kinematic Loops ◽  
Equations Of Motions

Abstract This paper presents a systematic method for deriving the minimum number of equations of motion for multibody system containing closed kinematic loops. A set of joint or natural coordinates is used to describe the configuration of the system. The constraint equations associated with the closed kinematic loops are found systematically in terms of the joint coordinates. These constraints and their corresponding elements are constructed from known block matrices representing different kinematic joints. The Jacobian matrix associated with these constraints is further used to find a velocity transformation matrix. The equations of motions are initially written in terms of the dependent joint coordinates using the Lagrange multiplier technique. Then the velocity transformation matrix is used to derive a minimum number of equations of motion in terms of a set of independent joint coordinates. An illustrative example and numerical results are presented, and the advantages and disadvantages of the method are discussed.

A Hybrid Highly Parallelizable Algorithm for the Dynamics of Rigid Body Chain Systems

1999 ◽  
Author(s):  
Shanzhong Duan ◽  
Kurt S. Anderson
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Equations Of Motion ◽  
Constraint Forces ◽  
Dynamics Of Rigid Body ◽  
A Chain ◽  
Explicit Determination ◽  
Order Algorithm

Abstract The paper presents a new hybrid parallelizable low order algorithm for modeling the dynamic behavior of multi-rigid-body chain systems. The method is based on cutting certain system interbody joints so that largely independent multibody subchain systems are formed. These subchains interact with one another through associated unknown constraint forces f¯c at the cut joints. The increased parallelism is obtainable through cutting the joints and the explicit determination of associated constraint loads combined with a sequential O(n) procedure. In other words, sequential O(n) procedures are performed to form and solve equations of motion within subchains and parallel strategies are used to form and solve constraint equations between subchains in parallel. The algorithm can easily accommodate the available number of processors while maintaining high efficiency. An O[(n+m)Np+m(1+γ)Np+mγlog2Np](0<γ<1) performance will be achieved with Np processors for a chain system with n degrees of freedom and m constraints due to cutting of interbody joints.

The Global Motion of a Rigid Body Subject to Periodic Body-Fixed Torques

1995 ◽  
Author(s):  
X. Tong ◽  
B. Tabarrok
Keyword(s):  
Rigid Body ◽  
Equations Of Motion ◽  
Melnikov Method ◽  
The Body ◽  
Body Motion ◽  
Heteroclinic Orbits ◽  
Coordinate Frame ◽  
Global Motion ◽  
Stable And Unstable Manifolds ◽  
Body Subject

Abstract In this paper the global motion of a rigid body subject to small periodic torques, which has a fixed direction in the body-fixed coordinate frame, is investigated by means of Melnikov’s method. Deprit’s variables are introduced to transform the equations of motion into a form describing a slowly varying oscillator. Then the Melnikov method developed for the slowly varying oscillator is used to predict the transversal intersections of stable and unstable manifolds for the perturbed rigid body motion. It is shown that there exist transversal intersections of heteroclinic orbits for certain ranges of parameter values.

MULTIBODY DYNAMIC MODELING AND FLUTTER ANALYSIS OF A FLEXIBLE SLENDER VEHICLE

2012 ◽  
Vol 12 (06) ◽  
pp. 1250049 ◽  
Author(s):  
A. RASTI ◽  
S. A. FAZELZADEH
Keyword(s):  
Differential Equations ◽  
Rigid Body ◽  
Dynamic Modeling ◽  
Equations Of Motion ◽  
The Body ◽  
Elastic Deformations ◽  
Strip Theory ◽  
Multibody Dynamic ◽  
Flutter Analysis ◽  
Rigid Body Motions

In this paper, multibody dynamic modeling and flutter analysis of a flexible slender vehicle are investigated. The method is a comprehensive procedure based on the hybrid equations of motion in terms of quasi-coordinates. The equations consist of ordinary differential equations for the rigid body motions of the vehicle and partial differential equations for the elastic deformations of the flexible components of the vehicle. These equations are naturally nonlinear, but to avoid high nonlinearity of equations the elastic displacements are assumed to be small so that the equations of motion can be linearized. For the aeroelastic analysis a perturbation approach is used, by which the problem is divided into a nonlinear flight dynamics problem for quasi-rigid flight vehicle and a linear extended aeroelasticity problem for the elastic deformations and perturbations in the rigid body motions. In this manner, the trim values that are obtained from the first problem are used as an input to the second problem. The body of the vehicle is modeled with a uniform free–free beam and the aeroelastic forces are derived from the strip theory. The effect of some crucial geometric and physical parameters and the acting forces on the flutter speed and frequency of the vehicle are investigated.

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