In this paper, a modular modeling approach of multibody systems adapted to interactive simulation is presented. This work is based on the study of the stability of two differential algebraic equation solvers. The first one is based on the acceleration-based augmented Lagrangian formulation and the second one on the Baumgarte formulation. We show that these two solvers give the same results and have to satisfy the same criteria to stabilize the algebraic constraint acceleration error. For a modular modeling approach, we propose to use the Baumgarte formulation and an iterative Uzawa algorithm to solve external constraint forces. This work is also the first step to validate the concept of two types of numerical components for object-oriented programming.
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e-mail: pjoli@iup.univ-evry.fr
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January 2008
Research Papers
A Modular Modeling Approach to Simulate Interactively Multibody Systems With a Baumgarte/Uzawa Formulation
Pierre Joli,
Pierre Joli
Laboratoire IBISC,
e-mail: pjoli@iup.univ-evry.fr
Université d’Evry-Val d’Essonne
, 40 rue du Pelvoux, 91020 Evry, France
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Nicolas Séguy,
Nicolas Séguy
Laboratoire IBISC,
Université d’Evry-Val d’Essonne
, 40 rue du Pelvoux, 91020 Evry, France
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Zhi-Qiang Feng
Zhi-Qiang Feng
Laboratoire de Mécanique d’Evry,
Université d’Evry-Val d’Essonne
, 40 rue du Pelvoux, 91020 Evry, France
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Pierre Joli
Laboratoire IBISC,
Université d’Evry-Val d’Essonne
, 40 rue du Pelvoux, 91020 Evry, Francee-mail: pjoli@iup.univ-evry.fr
Nicolas Séguy
Laboratoire IBISC,
Université d’Evry-Val d’Essonne
, 40 rue du Pelvoux, 91020 Evry, France
Zhi-Qiang Feng
Laboratoire de Mécanique d’Evry,
Université d’Evry-Val d’Essonne
, 40 rue du Pelvoux, 91020 Evry, FranceJ. Comput. Nonlinear Dynam. Jan 2008, 3(1): 011011 (8 pages)
Published Online: December 10, 2007
Article history
Received:
October 3, 2006
Revised:
June 29, 2007
Published:
December 10, 2007
Citation
Joli, P., Séguy, N., and Feng, Z. (December 10, 2007). "A Modular Modeling Approach to Simulate Interactively Multibody Systems With a Baumgarte/Uzawa Formulation." ASME. J. Comput. Nonlinear Dynam. January 2008; 3(1): 011011. https://doi.org/10.1115/1.2815331
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