Numerical simulation of finite dimensional multibody nonsmooth mechanical systems

Author:

Brogliato B1,ten Dam AA2,Paoli L3,Ge´not F4,Abadie M5

Affiliation:

1. INRIA Rho^ne-Alpes, ZIRST Monbonnot, 655 avenue de l’Europe, 38334 Saint Ismier, France; Bernard.Brogliato@inrialpes.fr

2. National Aerospace Laboratory NLR, Department of Mathematical Models and Methods, Information and Communication Technology Division, PO Box 90502, 1006 Amsterdam, The Netherlands; tendam@nlr.nl

3. Universite´ Jean Monnet-St Etienne, Equipe d’Analyse Nume´rique UMR CNRS 5585, 23 rue du Dr Michelon, 42023 Saint Etienne cedex 2, France; paoli@anumsun1.univ-st.etienne.fr

4. INRIA Rocquencourt, BP 105, 78153 Le Chesnay cedex, France; Frank.Genot@inria.fr

5. Schneider Electric, Avenue des Jeux Olympiques, S2E, bureau 204 38000 Grenoble, France

Abstract

This review article focuses on the problems related to numerical simulation of finite dimensional nonsmooth multibody mechanical systems. The rigid body dynamical case is examined here. This class of systems involves complementarity conditions and impact phenomena, which make its study and numerical analysis a difficult problem that cannot be solved by relying on known Ordinary Differential Equation (ODE) or Differential Algebraic Equation (DAE) integrators only. The main techniques, mathematical tools, and existing algorithms are reviewed. The article utilizes 233 references.

Publisher

ASME International

Subject

Mechanical Engineering

Reference162 articles.

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