58731 EFFICIENT IMPLICIT INTEGRATION OF THE MULTIBODY DYNAMIC EQUATIONS USING SEMI-RECURSIVE FORMULATIONS FOR RIGID AND FLEXIBLE BODIES(Modeling, Formalisms, and DAE Solution Method)

Abstract

This paper presents a new semi-recursive method for solving the dynamic equations of rigid body multibody systems with implicit integrators, closely related with the methods presented by Bae et al. (2001) and Rodriguez et al. (2004). This method considers the open chain relative coordinates as position variables, but only the independent relative velocities and accelerations, making the system smaller and more efficient to solve. Almost all the terms of the resulting formulation can be evaluated recursively, and some of them can be simplified for certain cases.