A Recursive Implementation Method with Implicit Integrator for Multibody Dynamics

Abstract

A recursive implementation method for the equations of motion and kinematics is presented. Computational structure of the kinematic and dynamic equations is exploited to systematically implement a dynamic analysis program RecurDyn. A differential algebraic equation solution method with implicit numerical integrators is discussed. Virtual body concept is introduced for the flexible body dynamics. The accuracy of the flexible body solutions is estimated by an error measure and is improved by the dynamic correction mode method. Several examples are solved to demonstrate the efficiency of the proposed methods.