Operational Space Algorithm for Flexible Multibody Systems With Generalized Topologies Available to Purchase

Multibody system with flexible and / or rigid bodies are found in various applications of science and engineering. Many of these systems have topological constraints in the form of kinematically closed loop topologies. Similarly, many of these systems have non-holonomic constraints that are either linear or nonlinear in the system velocities. In this paper, an efficient algorithm is presented for simulating the dynamics of multi-body systems of rigid or flexible bodies in generalized topologies with particular emphasis on treatment of topological and non-holonomic constraints. The flexible bodies are modeled using the small deformation large displacement approach. This algorithm achieve linear and logarithmic complexities in serial and parallel implementation and provides robust performance.