Recovery of Joint Reaction Force for Real-Time Recursive Multibody Dynamics
Abstract This paper proposes a formulation and parallel algorithm for the computation of all joint reaction forces in the recursive multibody dynamics. First, the Lagrange Multipliers associated with cut joints in each decoupled loop of a mechanical system are recovered. Then the joint reaction forces for the cut joints are computed directly using the obtained Lagrange Multipliers. After that, joint reaction forces associated with uncut joints are computed in backward computational paths, using synchronization in all junction nodes. A parallel algorithm for recovering reaction forces and torques for all cut joints and uncut joints is proposed. For validation, a space slider 3-D model is illustrated to compare the simulation results with those obtained from a commercial code DADS. Finally, A passenger car 14-body model is generated and simulated to obtain the joint reaction forces for the purpose of vehicle component design purpose.