Comparison of Selected Formulations for Multibody System Dynamics with Redundant Constraints

摘要

This paper compares selected optimization-based methods for the analysis of multibody systems with redundant constraints. The following numerical schemes are examined: direct integration method, Udwadia-Kalaba formulation, two types of least-squares block solution method and Udwadia-Phohomsiri formulation. In order to compare efficiency of the algorithms, a series of simulations is performed on two exemplary McPherson struts. In the first variant, the mechanism has no redundant constraints whereas the other is overconstrained. Three constraint stabilization schemes are also compared in terms of integration errors.