Abstract

A novel time-discontinuous Galerkin method is introduced for the time integration of the differential-algebraic equations governing the dynamic response of flexible multibody systems. In contrast with traditional Galerkin methods, the rigid-body motion field is interpolated using the dual spherical linear scheme. Furthermore, the jumps inherent to time-discontinuous Galerkin methods are expressed in terms of parameterization of the relative motion from one time step to the next. The proposed scheme is third-order accurate for initial value problems of both rigid and flexible multibody dynamics.

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