Dynamic Analysis of Constrained System of Rigid and Flexible Bodies With Intermittent Motion

Abstract

A method for dynamic analysis of large-scale constrained system of mixed rigid and flexible bodies with intermittent motion is presented. The system equations of motion are written in the Lagrangian formulation using a finite set of coupled reference position and local elastic generalized coordinates. Equations of motion are computer generated and integrated forward in time using an explicit-implicit integration algorithm. Points in time at which sudden events of the intermittent behavior occur are monitored by an event predictor which controls the integration algorithm and forces a solution for the system impulse-momentum relation at those points. Solutions of impulse-momentum relations define the jump discontinuities in the composite velocity vector as well as the generalized impulses of the reaction forces at different joints of the mechanical system.