多体システムのための高速な順動力学解法の開発(第2報)

幾何学的拘束式違反の対策

抄録

Cut joint technique is employed in the first report for extension Rosenthal's order-n algorithm to multibody systems with closed-loop topology. Equations of motion and cut joint constraint equations constitute a set of differential-algebraic equation (DAE) that must be solved when doing dynamic analysis. When numerical method is employed for solving that DAE, cut joint constraint violation occurs. In this second report, methods for eliminating constraint violation are examined. The reliable approach for selecting parameters used in Baumgarte constraint stabilization method for variable step integration methods is proposed. Coordinate projection method is also proposed for constraint violation treatment. Dynamic analysis of a slider crank mechanism is carried out to show the validity of the proposed methods.