大変形を伴う柔軟マルチボディシステムのスライディングジョイント拘束

概要

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In this investigation, a numerical procedure that can be effectively used for modeling sliding joint constraints for the absolute nodal coordinate formulation is developed. To this end, the arc-length coordinates are introduced to define the time-variant location of the constraint definition point on flexible bodies, while the intermediate coordinates are introduced to derive a mapping between the generalized gradient coordinates and the rotational coordinates. With this mapping, sliding joint constraints can be efficiently formulated for a flexible body modeled using the absolute nodal coordinate formulation. Furthermore, existing constraint libraries formulated for rigid bodies can be employed for the absolute nodal coordinate formulation without modifications. It is also demonstrated that the arc-length coordinates and intermediate coordinates used for formulating sliding joint constraints can be systematically eliminated from the equations of motion and standard differential algebraic equations used for general multibody dynamics computer algorithms can be obtained.