QR Decomposition Method for Flexible Multibody Dynamics

摘要

The performance and efficiency of multibody simulation codes depend largely onthe selection of the coordinates used to formulate the dynamic equations of multibody systems. The choice of the coordinates defines the structure of the system equations of motion as well as the numerical procedure required for the solution of these equations. Extensive research efforts have been devoted to examine the effect of the coordinate selection on the complexity of the formulation as well as the efficiency and performance of the computer algorithms used in rigid multibody. This paper describes an efficient procedure for the computer implementation of the absolute nodal coordinate formulation for flexible multibody applications.