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国际多尺度计算工程期刊
影响因子: 1.016 5年影响因子: 1.194 SJR: 0.554 SNIP: 0.68 CiteScore™: 1.18

ISSN 打印: 1543-1649
ISSN 在线: 1940-4352

国际多尺度计算工程期刊

DOI: 10.1615/IntJMultCompEng.v1.i23.50
20 pages

A Generalized Recursive Coordinate Reduction Method for Multibody System Dynamics

J. H. Critchley
Department of Mechanical, Aeronautical, and Nuclear Engineering, Rensselaer Polytechnic Institute, Troy, New York, USA
Kurt S. Anderson
Rensselaer Polytechnic Institute, USA

ABSTRACT

The method of recursive coordinate reduction (RCR) offers solutions to the forward problem of multibody dynamics at a cost in which the number of operations is linear in both the number of generalized coordinates, n, and the number of independent algebraic constraints, m (e.g., O(n + m)). However, the RCR is presently restricted in applicability (albeit broad) and susceptible to formulation singularities. This article develops two methods for avoiding formulation singularities as well as a recursive general coupled loop solution that extends the RCR to the complete set of multibody systems. Application of these techniques are further illustrated with a special five-bar linkage. The existing RCR coupled with these developments constitute a generalized recursive coordinate reduction method that should be used in place of the traditional "O(n)" constraint technique (truly O(n + nm2 + m3)) for superior O(n + m) computational performance.