This paper presents an explicit to integrate differential algebraic equations (DAEs) method for simulations of constrained mechanical systems modeled with holonomic and nonholonomic constraints. The proposed DAE integrator is based on the equation of constrained motion developed in Part I of this work, which is discretized here using explicit ordinary differential equation schemes and applied to solve two nontrivial examples. The obtained results show that this integrator allows one to precisely solve constrained mechanical systems through long time periods. Unlike many other implicit DAE solvers which utilize iterative constraint correction, the presented DAE integrator is explicit, and it does not use any iteration. As a direct consequence, the present formulation is simple to implement, and is also well suited for real-time applications.
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July 2012
Research Papers
Simulation of Constrained Mechanical Systems—Part II: Explicit Numerical Integration
David J. Braun,
David J. Braun
School of Informatics, University of Edinburgh
, 10 Crichton Street,Edinburgh EH8 9AB,UK
david.braun@vanderbilt.edudavid.braun@ed.ac.uk
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Michael Goldfarb
Michael Goldfarb
Department of Mechanical Engineering,
e-mail: michael.goldfarb@vanderbilt.edu
Vanderbilt University
, VU Station B 351592,Nashville, TN 37235
Search for other works by this author on:
David J. Braun
School of Informatics, University of Edinburgh
, 10 Crichton Street,Edinburgh EH8 9AB,UK
david.braun@vanderbilt.edudavid.braun@ed.ac.uk
Michael Goldfarb
Department of Mechanical Engineering,
Vanderbilt University
, VU Station B 351592,Nashville, TN 37235e-mail: michael.goldfarb@vanderbilt.edu
J. Appl. Mech. Jul 2012, 79(4): 041018 (6 pages)
Published Online: May 16, 2012
Article history
Received:
December 11, 2010
Revised:
October 21, 2011
Posted:
February 1, 2012
Published:
May 16, 2012
Citation
Braun, D. J., and Goldfarb, M. (May 16, 2012). "Simulation of Constrained Mechanical Systems—Part II: Explicit Numerical Integration." ASME. J. Appl. Mech. July 2012; 79(4): 041018. https://doi.org/10.1115/1.4005573
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