Abstract
This paper describes an energy preserving integration method for thedynamic analysis of nonlinear multibody systems in the presence ofnonlinear constraints. The aspects of finite rotation incrementation,discrete energy conservation and the most common constraint types areexamined in detail. The application is made to several rigid bodyexamples, including an intermittent contact problem.
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Lens, E.V., Cardona, A. & Géradin, M. Energy Preserving Time Integration for Constrained Multibody Systems. Multibody System Dynamics 11, 41–61 (2004). https://doi.org/10.1023/B:MUBO.0000014901.06757.bb
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DOI: https://doi.org/10.1023/B:MUBO.0000014901.06757.bb