dc.contributor.author | Urkullu Martín, Gorka | |
dc.contributor.author | Fernández de Bustos, Igor | |
dc.contributor.author | García Marina, Vanesa | |
dc.contributor.author | Uriarte Larizgoitia, Haritz | |
dc.date.accessioned | 2024-02-08T11:43:25Z | |
dc.date.available | 2024-02-08T11:43:25Z | |
dc.date.issued | 2018-12-12 | |
dc.identifier.citation | Mechanism and Machine Theory 133 : 432-458 (2019) | es_ES |
dc.identifier.issn | 0094-114X | |
dc.identifier.issn | 1873-3999 | |
dc.identifier.uri | http://hdl.handle.net/10810/65713 | |
dc.description.abstract | A methodology for integrating rigid body dynamics for the analysis of multibody systems is presented. The novelty lies in the fact that the equation system is solved directly by means of central differences as a second-order integration method. To obtain the best achievable convergence, the equilibrium is solved iteratively by the exact Newton method. Thus, it is possible to achieve the system solution directly without having to reduce the differential order. This decreases the number of unknowns. In return, it is necessary to linearize the equations. The rotation of each element is described by parameterization under a unit quaternion. In this paper the necessary developments for the modelization of the spherical and rotational joints are included. The constraints imposed by these joints, as well as the quaternion norm, are introduced into the model through a null space matrix. The reactions produced by these constraints are also eliminated from the system by using null space. Several examples are analyzed through the implementation of the methodology in Octave. The accuracy of the method is verified with results obtained from commercial software. The examples include benchmark problems. | es_ES |
dc.description.sponsorship | The authors would like to thank to the Basque Government for funding, in a direct or indirect manner, to the Research Group recognized under section IT 947-16. We also thank the Spanish Ministry of Economy and Competitiveness for the grant through the project DPI2016-80372-R (AEI/FEDER, UE), and the University of the Basque Country (UPV/EHU) for the pre-doctoral training of research personnel. | es_ES |
dc.description.sponsorship | Funding: The authors would like to thank to the Basque Government for funding, in a direct or indirect manner, to the
Research Group recognized under section IT 947-16. We also thank the Spanish Ministry of Economy and Competitiveness
for the grant through the project DPI2016-80372-R (AEI/FEDER, UE), and the University of the Basque Country (UPV/EHU)
for the pre-doctoral training of research personnel | |
dc.language.iso | spa | es_ES |
dc.publisher | Elsevier | es_ES |
dc.relation | info:eu-repo/grantAgreement/MINECO/DPI2016-80372-R | |
dc.rights | info:eu-repo/semantics/openAccess | es_ES |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | multibody systems | es_ES |
dc.subject | central differences | es_ES |
dc.subject | Newton method | es_ES |
dc.subject | quaternion | es_ES |
dc.title | Direct integration of the equations of multibody dynamics using central differences and linearization | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.rights.holder | © 2018 Elsevier under CC BY-NC-ND license | es_ES |
dc.relation.publisherversion | https://doi.org/10.1016/j.mechmachtheory.2018.11.024 | es_ES |
dc.identifier.doi | 10.1016/j.mechmachtheory.2018.11.024 | |
dc.departamentoes | Ingeniería mecánica | es_ES |
dc.departamentoeu | Ingeniaritza mekanikoa | es_ES |