A Hybrid Coordinate Partitioning Method in Mechanical Systems Containing Singular Configurations

  • Published : 2002.09.01


In multibody dynamics, DAE(Differential Algebraic Equations) that combine differential equations of motion and kinematic constraint equations should be solved. To solve these equations, either coordinate partitioning method or constraint stabilization method is commonly used. The most typical coordinate partitioning methods are LU decomposition, QR decomposition, and SVD(singular value decomposition). The objective of this research is to suggest a hybrid coordinate partitioning method in the dynamic analysis of multibody systems containing singular configurations. Two coordinate partitioning methods, i.e. LU decomposition and QR decomposition for constrained multibody systems, are combined for a new hybrid coordinate partitioning method. The proposed hybrid method reduces the simulation time while keeping accuracy of the solution.


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