マルチボディ・システムの統一的定式化法 : 可変ゲインペナルティ法による数値解析アルゴリズム

抄録

A new dynamical simulation algorithm applicable to a very large class of rigid and flexible multibody systems is presented. It is based on a variable-gain penalty method with scaling, and has the following distinctive features : (i) All kinds of holonomic and nonholonomic equality constraints can be treated in a plain and unified manner ; (ii) Stability and specified admissible error of the constraints are always attained ; (iii) The formulation has an order N computational cost in terms of both the constrained and unconstrained degrees of freedom, regardless of the system topology ; (iv) Unlike the traditional recursive order N algorithms, it is quite amenable to parallel computation ; and (v) Since no matrix operations are involved, it can be implemented to very simple general-purpose simulation programs. Versatility, dynamical validity and efficiency of the approach are checked through numerical studies of several particular systems.