Investigation of an approximate analysis method for multibody systems with viscoelastic body

Abstract

Since multibody systems including viscoelastic bodies become so-called stiff systems, stable analysis is difficult in ordinary explicit numerical integration. However, from the necessity of application to, for example, HILS system etc., it is required to speed up while maintaining stability. Therefore, in this research, we try to develop an approximate analysis method that can analyze the system including the viscoelastic body at high speed and stably by combining the approximate rigid link model, the recursive dynamics calculation, and the implicit numerical integration method. An algorithm of efficient implicit numerical integration is constructed for the case of considering Voigt model assuming linear viscoelasticity and adding them to joints of link model. We evaluate the computational cost and stability of the proposed method by numerical simulation of simple physical model such as pendulum. After that we also consider the case of Maxwell model and propose an efficient numerical integration algorithm. Simulation results for the case of simple 1-DOF Maxwell model shows the effectiveness of the proposed calculation method.