505 非一般化座標を用いた大変形マルチボディシステムの汎用3次元ジョイント拘束(ジョイントのモデリングとその応用,OS-19 マルチボディダイナミクス,総合テーマ「伝統を,未来へ!」)

概要

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In this investigation, a systematic procedure that can be used for modeling joint constraints for the absolute nodal coordinate formulation is developed. To this end, the non-generalized intermediate coordinates are introduced to derive a mapping between the generalized gradient coordinates and the non-generalized rotation parameters. With this mapping, a wide variety of joint constraints can be defined for the absolute nodal coordinate formulation in terms of the non-generalized reference coordinates and, therefore, existing well-developed constraint libraries formulated for the rigid body reference coordinates can be directly employed without significant modifications in existing codes. Several numerical examples are presented in order to demonstrate the use of the joint constraint formulation developed in this investigation.
2010-09-14