A great variety of formulations exist for the numerical simulation of rigid-body systems, particularly of medium-large systems such as vehicles. Topological formulations, which are considered to be the most efficient ones, are often cumbersome and not necessarily easy to implement. As a consequence, there is a lack of comparative evidence to support the performance of these formulations. In this paper, we present and compare three state-of-the-art topological formulations for multibody dynamics: generalized semirecursive, double-step semirecursive, and subsystem synthesis methods. We analyze the background, underlying principles, numerical efficiency, and accuracy of these formulations in a systematic way. A 28-degree-of-freedom, open-loop rover model and a 16-degree-of-freedom, closed-loop sedan car model are selected as study cases. Insight on the key aspects toward performance is provided.
Comparison of Semirecursive and Subsystem Synthesis Algorithms for the Efficient Simulation of Multibody Systems
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received August 15, 2016; final manuscript received September 27, 2016; published online November 22, 2016. Assoc. Editor: Paramsothy Jayakumar.
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Callejo, A., Pan, Y., Ricón, J. L., Kövecses, J., and García de Jalón, J. (November 22, 2016). "Comparison of Semirecursive and Subsystem Synthesis Algorithms for the Efficient Simulation of Multibody Systems." ASME. J. Comput. Nonlinear Dynam. January 2017; 12(1): 011020. https://doi.org/10.1115/1.4034870
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