A Combined Penalty and Recursive Real-Time Formulation for Multibody Dynamics

[+] Author and Article Information
J. Cuadrado, D. Dopico, M. Gonzalez, M. A. Naya

Dept. of Mechanical Engineering, University of La Coruña, Ferrol 15403, Spain

J. Mech. Des 126(4), 602-608 (Aug 12, 2004) (7 pages) doi:10.1115/1.1758257 History: Received March 01, 2003; Revised December 01, 2003; Online August 12, 2004
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.


Campanelli,  M., Berzeri,  M., and Shabana,  A. A., 2000, “Performance of the Incremental and Non-incremental Finite Element Formulations in Flexible Multibody Problems,” ASME J. Mech. Des., 122(4), pp. 498–507.
Fox,  B., Jennings,  L. S., and Zomaya,  A. Y., 2001, “Numerical Computation of Differential-algebraic Equations for Non-linear Dynamics of Multibody Systems Involving Contact Forces,” ASME J. Mech. Des., 123(2), pp. 272–281.
Lankarani,  H. M., 2000, “A Poisson-based Formulation for Frictional Impact Analysis of Multibody Mechanical Systems With Open or Closed Kinematic Chains,” ASME J. Mech. Des., 122(4), pp. 489–497.
Elias,  D. A., and Chiang,  L. E., 2003, “Dynamic Analysis of Impact Tools by Using a Method Based on Stress Wave Propagation and Impulse-momentum Principle,” ASME J. Mech. Des., 125(1), pp. 131–142.
Kim,  C., and Ro,  P. I., 2002, “An Accurate Full Car Ride Model Using Model Reducing Techniques,” ASME J. Mech. Des., 124(4), pp. 697–705.
Kang,  J. S., Bae,  S., Lee,  J. M., and Tak,  T. O., 2003, “Force Equilibrium Approach for Linearization of Constrained Mechanical System Dynamics,” ASME J. Mech. Des., 125(1), pp. 143–149.
Serban,  R., and Haug,  E. J., 2000, “Globally Independent Coordinates for Real-time Vehicle Simulation,” ASME J. Mech. Des., 122(4), pp. 575–582.
Lin,  S.-T., and Huang,  J.-N., 2002, “Stabilization of Baumgarte’s Method Using the Runge-Kutta Approach,” ASME J. Mech. Des., 124(4), pp. 633–641.
Shabana, A. A., 1998, Dynamics of Multibody Systems, Cambridge University Press, Cambridge.
Garcı́a de Jalón, J., and Bayo, E., 1994, Kinematic and Dynamic Simulation of Multibody Systems, Springer-Verlag, New York.
Cuadrado,  J., Gutiérrez,  R., Naya,  M. A., and Morer,  P., 2001, “A Comparison in Terms of Accuracy and Efficiency Between a MBS Dynamic Formulation With Stress Analysis and a Non-linear FEA Code,” Int. J. Numer. Methods Eng., 51(9), pp. 1033–1052.
Rodrı́guez, J. I., 2000, “Analysis Eficiente de Mecanismos 3D con metodos topologicos y tecnologia de components en Internet,” Ph.D. Thesis, University of Navarre, Spain.
Bayo,  E., and Avello,  A., 1994, “Singularity Free Augmented Lagrangian Algorithms for Constraint Multibody Dynamics,” Nonlinear Dyn., 5, pp. 209–231.
Iltis Data Package, 1990, IAVSD Workshop, Herbertov, Czechoslovakia.
Angeles,  J., and Ma,  O., 1988, “Dynamic Simulation of n-axis Serial Robotic Manipulators Using a Natural Orthogonal Complement,” Int. J. Robot. Res., 7(5), pp. 32–47.
Jiménez, J. M., 1993, “Kinematic and Dynamic Formulations for Real-time Simulation of Multibody Systems,” Ph.D. Thesis, University of Navarre, Spain.
Featherstone, R., 1987, Robot Dynamics Algorithms, Kluwer Academic Publishers, Dordrecht.
Cuadrado,  J., Cardenal,  J., Morer,  P., and Bayo,  E., 2000, “Intelligent Simulation of Multibody Dynamics: Space-state and Descriptor Methods in Sequential and Parallel Computing Environments,” Multibody Syst. Dyn., 4, pp. 55–73.
ADAMS 11.0.0 Product Guides, 2000.


Grahic Jump Location
Example of mechanism topology
Grahic Jump Location
Matrices K and C due to springs and dampers
Grahic Jump Location
Double four-bar mechanism
Grahic Jump Location
Road profile with distances in m
Grahic Jump Location
Time-history of the vertical coordinate of the mass center of the chassis (time-steps 0.01 s)
Grahic Jump Location
Time-history of the vertical coordinate of the mass center of the chassis (maximum time-steps)



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In