Berlin : Weierstraß-Institut für Angewandte Analysis und Stochastik
Doi
Abstract
In this paper we present the new numerical algorithm GEOMS for the
numerical integration of the most general form of the equations of motion of
multibody systems, including nonholonomic constraints and possible
redundancies in the constraints, as they may appear in industrial
applications. Besides the numerical integration it offers some additional
features like stabilization of the model equations, use of different
decomposition strategies, or checking and correction of the initial values
with respect to their consistency. Furthermore, GEOMS preserves hidden
constraints and (possibly) existing solution invariants if they are provided
as equations. We will also demonstrate the performance and the applicability
of GEOMS for two mechanical examples of different degrees of complexity