An Efficient Dynamics Analysis using a Parametric Generalized Coordinate

Abstract

A parametric generalized coordinate formulation for the equations of motion and kinematic constraint equations is presented. The equations of motion and the constraint equations are simplified by introducing parametric generalized coordinates in addition to the Cartesian generalized coordinates. The proposed method has been demonstrated to be very effective for the implicit implementation of the equations of motion and constraints. Sparse matrix solver combined with the proposed formulation plays a key role in the implicit implementation. An automobile example is solved to demonstrate the efficiency of the proposed method.