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Computational efficiency of multi-body systems dynamic models

Published online by Cambridge University Press:  16 June 2021

Cs. Antonya Open the ORCID record for Cs. Antonya [Opens in a new window]  and
R. G. Boboc Open the ORCID record for R. G. Boboc [Opens in a new window]
Cs. Antonya
Affiliation:
Transilvania University of Brasov, 29 Eroilor, 500036 Brasov, Romania
R. G. Boboc*
Affiliation:
Transilvania University of Brasov, 29 Eroilor, 500036 Brasov, Romania
*
*Corresponding author. Email: [email protected]
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Abstract

For several decades, simulation and analysis of mechanisms have been performed with dedicated computer-aided engineering software that implements general dynamic formulations, known in the literature as multi-body systems (MBS) formulations. The MBS name is related to the structure of the mechanism, which is often considered to be a collection of bodies interconnected by mechanical joints (pairs). Nevertheless, only a few formulations are really based on a true multi-body mechanical model, while many others instantiate mathematically quite different mechanical concepts. This paper aims to identify and discuss the mechanical models that fundament the main multi-body mathematical formulations known in the literature. The main features of each model are outlined, based on a detailed presentation of the structure and equations of motion, together with their link with the kinematic and dynamic formulations. A comparative study related to computational efficiency is then presented for the identified main models, based on a test mechanism. Comparative advantages and disadvantages are discussed at the end, considering the identified mechanical models.

Keywords

multi-body systemsmulti-particle systemsdynamicscomputational efficiency
Type
Article
Information
Robotica , Volume 39 , Issue 12 , December 2021 , pp. 2333 - 2348
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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