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Research Papers

Partitioned Dynamic Simulation of Multibody Systems

[+] Author and Article Information
Sukhpreet Singh Sandhu1

Systems Design Engineering, University of Waterloo, Waterloo, ON, N2L 3G1, Canadasssandhu@engmail.uwaterloo.ca

John McPhee

Systems Design Engineering, University of Waterloo, Waterloo, ON, N2L 3G1, Canadamcphee@real.uwaterloo.ca

Also referred to as monolithic or simultaneous simulation.

Provided the equations of motion are nonlinear, as they are in the case of MBS.

Although any other explicit integrator could just as well be applied to solve the subsystem differential equation.

Here we have abused the notation slightly by including acceleration in the states.

1

Corresponding author.

J. Comput. Nonlinear Dynam 5(3), 031007 (May 18, 2010) (7 pages) doi:10.1115/1.4001374 History: Received April 07, 2009; Revised October 03, 2009; Published May 18, 2010; Online May 18, 2010

Partitioned dynamic simulation of multibody systems offers the benefit of increased modularity over direct simulation, thereby allowing for the use of softwares tailored to the needs of each physical subsystem. In this paper, the partitioned simulation of multibody systems is accomplished by deriving an explicit expression for the constraint forces acting between subsystems. These constraint forces form the basis of a coupling module that communicates results between subsystems, each of which can be simulated independently using tailored numerical solvers. We provide details of how this partitioned solution approach can be implemented in the framework of implicit and explicit time integrators. The computational efficiency of the proposed partitioned simulation approach is established, in comparison with direct simulation, by solving three suitable problems containing both rigid and deformable components.

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Copyright © 2010 by American Society of Mechanical Engineers
Topics: Simulation
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References

Figures

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Figure 1

MBS consisting of two physical subsystems

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Figure 2

Direct versus partitioned simulation

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Figure 3

Constrained spring mass system: problem description

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Figure 4

Constrained spring mass system: simulation results, positions of the masses, and comparison with the exact (analytical) solution

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Figure 5

Four mass system: problem description

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Figure 6

Four mass system: trajectories of the four masses

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Figure 7

Flexible slider-crank: problem description

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Figure 8

Flexible slider-crank: midpoint deformation of connecting rod

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