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The treatment of constraints is considered here within the framework ofenergy-momentum conserving formulations for flexible multibody systems.Constraint equations of various types are an inherent component of multibodysystems, their treatment being one of the key performance features ofmathematical formulations and numerical solution schemes. Here we employ rotation-free inertial Cartesian coordinates...
The context of this work is the non-linear dynamics ofmultibody systems (MBS). The approach followed for parametrisation ofrigid bodies is the use of inertial coordinates, forming a dependent setof parameters. This approach mixes naturally with nodal coordinates in adisplacement-based finite element discretisation of flexible bodies,allowing an efficient simulation for MBS dynamics. An energy-momentumtime...
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