RESEARCH PAPERS: Design Automation Papers

Application of Singular Value Decomposition for Analysis of Mechanical System Dynamics

[+] Author and Article Information
N. K. Mani, E. J. Haug

Center for Computer Aided Design, College of Engineering, The University of Iowa, Iowa City, Iowa 52242

K. E. Atkinson

Department of Mathematics, The University of Iowa, Iowa City, Iowa 52242

J. Mech., Trans., and Automation 107(1), 82-87 (Mar 01, 1985) (6 pages) doi:10.1115/1.3258699 History: Received July 06, 1984; Online November 19, 2009


A singular value decomposition method for efficient solution of mixed differential-algebraic equations of motion of mechanical systems is developed. Differential equations of motion are written in terms of a maximal set of Cartesian generalized coordinates that are related through nonlinear algebraic constraint equations. Singular value decomposition of the constraint Jacobian matrix is used to define a new set of generalized coordinates that are partitioned into optimal independent and dependent sets. Integration of only independent generalized coordinates generates all system information. A numerical example is presented to demonstrate effectiveness of the method.

Copyright © 1985 by ASME
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