刚体链及其局部框架法数值模拟

IF 1 Q3 Engineering

Journal of Computational Dynamics Pub Date : 2019-01-01 DOI:10.3934/jcd.2019021

N. Sætran, A. Zanna

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引用次数: 1

摘要

We consider the dynamics and numerical simulation of systems of linked rigid bodies (chains). We describe the system using the moving frame method approach of [ 18 ]. In this framework, the dynamics of the \begin{document}$ j $\end{document} th body is described in a frame relative to the \begin{document}$ (j-1) $\end{document} th one. Starting from the Lagrangian formulation of the system on \begin{document}$ {{\rm{SO}}}(3)^{N} $\end{document} , the final dynamic formulation is obtained by variational calculus on Lie groups. The obtained system is solved by using unit quaternions to represent rotations and numerical methods preserving quadratic integrals.

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Chains of rigid bodies and their numerical simulation by local frame methods

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来源期刊

Journal of Computational Dynamics Engineering-Computational Mechanics

CiteScore

2.30

自引率

10.00%

发文量

期刊介绍： JCD is focused on the intersection of computation with deterministic and stochastic dynamics. The mission of the journal is to publish papers that explore new computational methods for analyzing dynamic problems or use novel dynamical methods to improve computation. The subject matter of JCD includes both fundamental mathematical contributions and applications to problems from science and engineering. A non-exhaustive list of topics includes * Computation of phase-space structures and bifurcations * Multi-time-scale methods * Structure-preserving integration * Nonlinear and stochastic model reduction * Set-valued numerical techniques * Network and distributed dynamics JCD includes both original research and survey papers that give a detailed and illuminating treatment of an important area of current interest. The editorial board of JCD consists of world-leading researchers from mathematics, engineering, and science, all of whom are experts in both computational methods and the theory of dynamical systems.