Dynamic Simulation of Multibody Systems with Flexible Bodies by an Object-Oriented Software Approach

摘要

An object-oriented implementation of a dynamic solver for multibody systems with rigid and flexible bodies is presented. The dynamic model is expressed in terms of a set of minimal independent coordinates, and makes use of influence coefficients. A two-step computational scheme is used for the solution of constraint equations. The object-oriented organization of the simulation program, discussed in the second part of the paper, is directly related to the physical components found in a multibody system and to the adopted solution scheme.