This paper presents a finite element approach of multibody systems using the special Euclidean group framework. The development leads to a compact and unified mixed coordinate formulation of the rigid bodies and the kinematic joints. Flexibility in the kinematic joints is also easily introduced. The method relies on local description of motions, so that it provides a singularity-free formulation and exhibits important advantages regarding numerical implementation. A practical case is presented to illustrate the method.
A Formulation on the Special Euclidean Group for Dynamic Analysis of Multibody Systems
Contributed by the Design Engineering Division of ASME for publication in the Journal of Computational and Nonlinear Dynamics. Manuscript received July 8, 2013; final manuscript received January 22, 2014; published online July 11, 2014. Assoc. Editor: Javier Cuadrado.
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Sonneville, V., and Brüls, O. (July 11, 2014). "A Formulation on the Special Euclidean Group for Dynamic Analysis of Multibody Systems." ASME. J. Comput. Nonlinear Dynam. October 2014; 9(4): 041002. https://doi.org/10.1115/1.4026569
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