Journal article
Formulation of Three-Dimensional Joint Constraints Using the Absolute Nodal Coordinates
Nonlinear dynamics, Vol.31(2), pp.167-195
01/2003
DOI: 10.1023/A:1022082826627
Abstract
A wide variety of mechanical and structural multibody systems consist ofvery flexible components subject to kinematic constraints. The widelyused floating frame of reference formulation that employs linear modelsto describe the local deformation leads to a highly nonlinear expressionfor the inertia forces and can be applied to only small deformationproblems. This paper is concerned with the formulation and computerimplementation of spatial joint constraints and forces using the largedeformation absolute nodal coordinate formulation. Unlike the floatingframe of reference formulation that employs a mixed set of absolutereference and local elastic coordinates, in the absolute nodalcoordinate formulation, global displacement and slope coordinates areused. The nonlinear kinematic constraint equations and generalized forceexpressions are expressed in terms of the absolute global displacementsand slopes. In particular, a new formulation for the sliding jointbetween two very flexible bodies is developed. A surface parameter isintroduced as an additional new variable in order to facilitate theformulation of this sliding joint. The constraint and force expressionsdeveloped in this paper are also expressed in terms of generalizedCholesky coordinates that lead to an identity inertia matrix. Severalexamples are presented in order to demonstrate the use of theformulations developed in the paper.
Details
- Title: Subtitle
- Formulation of Three-Dimensional Joint Constraints Using the Absolute Nodal Coordinates
- Creators
- Hiroyuki Sugiyama - Department of Mechanical Engineering University of Illinois at Chicago 842 West Taylor Street Chicago IL 60607-7022 U.S.AJosé Escalona - Department of Mechanical and Materials Engineering University of Seville Camino de los Descubrimientos s/n E-41092 Seville SpainAhmed Shabana - Department of Mechanical Engineering University of Illinois at Chicago 842 West Taylor Street Chicago IL 60607-7022 U.S.A
- Resource Type
- Journal article
- Publication Details
- Nonlinear dynamics, Vol.31(2), pp.167-195
- Publisher
- Kluwer Academic Publishers; Dordrecht
- DOI
- 10.1023/A:1022082826627
- ISSN
- 0924-090X
- eISSN
- 1573-269X
- Language
- English
- Date published
- 01/2003
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984064251602771
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