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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Constraint treatment techniques and parallel algorithms for multibody dynamic analysis

Computational procedures for kinematic and dynamic analysis of three-dimensional multibody dynamic (MBD) systems are developed from the differential-algebraic equations (DAE's) viewpoint. Constraint violations during the time integration process are minimized and penalty constraint stabilization techniques and partitioning schemes are developed. The governing equations of motion, a two-stage staggered explicit-implicit numerical algorithm, are treated which takes advantage of a partitioned solution procedure. A robust and parallelizable integration algorithm is developed. This algorithm uses a two-stage staggered central difference algorithm to integrate the translational coordinates and the angular velocities. The angular orientations of bodies in MBD systems are then obtained by using an implicit algorithm via the kinematic relationship between Euler parameters and angular velocities. It is shown that the combination of the present solution procedures yields a computationally more accurate solution. To speed up the computational procedures, parallel implementation of the present constraint treatment techniques, the two-stage staggered explicit-implicit numerical algorithm was efficiently carried out. The DAE's and the constraint treatment techniques were transformed into arrowhead matrices to which Schur complement form was derived. By fully exploiting the sparse matrix structural analysis techniques, a parallel preconditioned conjugate gradient numerical algorithm is used to solve the systems equations written in Schur complement form. A software testbed was designed and implemented in both sequential and parallel computers. This testbed was used to demonstrate the robustness and efficiency of the constraint treatment techniques, the accuracy of the two-stage staggered explicit-implicit numerical algorithm, and the speed up of the Schur-complement-based parallel preconditioned conjugate gradient algorithm on a parallel computer.

Chiou, Jin-Chern↗
NASA NTRS1990

Staggered solution procedures for multibody dynamics simulation

A computational procedure is presented for the direct integration of the multibody dynamical (MBD) equations with constraints. Numerical experiments conducted with this MBD procedure indicate that it yields robust solutions in cases where the step size furnishes more than 20 samples for the period of highest apparent response frequency in a given multibody system. The MBD solution procedure is implemented in two separate modules: the generalized coordinated solver, 'CINT', and the constraint Lagrange multiplier solver, 'LINT'.

Park, K. C.↗
NASA NTRS1993

Spatial operator algebra for flexible multibody dynamics

This paper presents an approach to modeling the dynamics of flexible multibody systems such as flexible spacecraft and limber space robotic systems. A large number of degrees of freedom and complex dynamic interactions are typical in these systems. This paper uses spatial operators to develop efficient recursive algorithms for the dynamics of these systems. This approach very efficiently manages complexity by means of a hierarchy of mathematical operations.

Jain, A.↗
DOE OSTI2025

Introducing Kynema, an Open-Source Performance-Portable Flexible-Multibody-Dynamics Solver

In this talk we introduce Kynema, an open-source general flexible-multibody-dynamics solver that is well suited for simulating wind turbine structural dynamics. Kynema uses a Lie-group time integrator for constrained systems and runs on both CPUs and GPUs. Timing results for simulations are presented for the IEA 15-MW turbine with and without aerodynamic forces.

17 WIND ENERGY↗
NASA NTRS1987

Evaluation of constraint stabilization procedures for multibody dynamical systems

Comparative numerical studies of four constraint treatment techniques for the simulation of general multibody dynamic systems are presented, and results are presented for the example of a classical crank mechanism and for a simplified version of the seven-link manipulator deployment problem. The staggered stabilization technique (Park, 1986) is found to yield improved accuracy and robustness over Baumgarte's (1972) technique, the singular decomposition technique (Walton and Steeves, 1969), and the penalty technique (Lotstedt, 1979). Furthermore, the staggered stabilization technique offers software modularity, and the only data each solution module needs to exchange with the other is a set of vectors plus a common module to generate the gradient matrix of the constraints, B.

Park, K. C.↗
NASA NTRS1996

Fast Parallel Computation Of Multibody Dynamics

Constraint-force algorithm fast, efficient, parallel-computation algorithm for solving forward dynamics problem of multibody system like robot arm or vehicle. Solves problem in minimum time proportional to log(N) by use of optimal number of processors proportional to N, where N is number of dynamical degrees of freedom: in this sense, constraint-force algorithm both time-optimal and processor-optimal parallel-processing algorithm.

Fijany, Amir↗
NASA NTRS1989

Multibody dynamics: Modeling component flexibility with fixed, free, loaded, constraint, and residual modes

The assumed-modes method in multibody dynamics allows the elastic deformation of each component in the system to be approximated by a sum of products of spatial and temporal functions commonly known as modes and modal coordinates respectively. The choice of component modes used to model articulating and non-articulating flexible multibody systems is examined. Attention is directed toward three classical Component Mode Synthesis (CMS) methods whereby component normal modes are generated by treating the component interface (I/F) as either fixed, free, or loaded with mass and stiffness contributions from the remaining components. The fixed and free I/F normal modes are augmented by static shape functions termed constraint and residual modes respectively. A mode selection procedure is outlined whereby component modes are selected from the Craig-Bampton (fixed I/F plus constraint), MacNeal-Rubin (free I/F plus residual), or Benfield-Hruda (loaded I/F) mode sets in accordance with a modal ordering scheme derived from balance realization theory. The success of the approach is judged by comparing the actuator-to-sensor frequency response of the reduced order system with that of the full order system over the frequency range of interest. A finite element model of the Galileo spacecraft serves as an example in demonstrating the effectiveness of the proposed mode selection method.

Spanos, John T.↗
NASA NTRS1992

Sub-domain decomposition methods and computational controls for multibody dynamical systems

This paper presents a concurrent methodology to simulate the dynamics of flexible multibody systems with a large number of degrees of freedom. A general class of open-loop structures is treated and a redundant coordinate formulation is adopted. A range space method is used in which the constraint forces are calculated using a preconditioned conjugate gradient method. By using a preconditioner motivated by the regular ordering of the directed graph of the structures, it is shown that the method is order N in the total number of coordinates of the system. The overall formulation has the advantage that it permits fine parallelization and does not rely on system topology to induce concurrency. It can be efficiently implemented on the present generation of parallel computers with a large number of processors. Validation of the method is presented via numerical simulations of space structures incorporating large number of flexible degrees of freedom.

Menon, R. G.↗
NASA NTRS1993

Geometric stiffening in multibody dynamics formulations

In this paper we discuss the issue of geometric stiffening as it arises in the context of multibody dynamics. This topic has been treated in a number of previous publications in this journal and appears to be a debated subject. The controversy revolves primarily around the 'correct' methodology for incorporating the stiffening effect into dynamics formulations. The main goal of this work is to present the different approaches that have been developed for this problem through an in-depth review of several publications dealing with this subject. This is done with the goal of contributing to a precise understanding of the existing methodologies for modelling the stiffening effects in multibody systems. Thus, in presenting the material we attempt to illuminate the key characteristics of the various methods as well as show how they relate to each other. In addition, we offer a number of novel insights and clarifying interpretations of these schemes. The paper is completed with a general classification and comparison of the different approaches.

Sharf, Inna↗
NASA NTRS1989

Computational aspects of multibody dynamics

Computational aspects are addressed which impact the requirements for developing a next generation software system for flexible multibody dynamics simulation which include: criteria for selecting candidate formulation, pairing of formulations with appropriate solution procedures, need for concurrent algorithms to utilize computer hardware advances, and provisions for allowing open-ended yet modular analysis modules.

Park, K. C.↗
NASA NTRS1990

Some fundamentals regarding kinematics and generalized forces for multibody dynamics

In order to illustrate the various forms in which generalized forces can arise from diverse subsystem analyses in multibody dynamics, intrinsic dynamical equations for the rotational dynamics of a rigid body are derived from Hamilton's principle. Two types of generalized forces are derived: (1) those associated with the virtual rotation vector in some orthogonal basis, and (2) those associated with varying generalized coordinates. As one physical or kinematical result (such as a frequency or a specific direction cosine) cannot rely on this selection, a 'blind' coupling of two models in which generalized forces are calculated in different ways would be wrong. Both types should use the same rotational coordinates and should denote the virtual rotation on a similar basis according to method 1, or in terms of common rotational coordinates and their diversifications as in method 2. Alternatively, the generalized forces and coordinates of one model may be transformed to those of the other.

Hodges, Dewey H.↗
NASA NTRS1993

A fast algorithm for parallel computation of multibody dynamics on MIMD parallel architectures

In this paper the implementation of a parallel O(LogN) algorithm for computation of rigid multibody dynamics on a Hypercube MIMD parallel architecture is presented. To our knowledge, this is the first algorithm that achieves the time lower bound of O(LogN) by using an optimal number of O(N) processors. However, in addition to its theoretical significance, the algorithm is also highly efficient for practical implementation on commercially available MIMD parallel architectures due to its highly coarse grain size and simple communication and synchronization requirements. We present a multilevel parallel computation strategy for implementation of the algorithm on a Hypercube. This strategy allows the exploitation of parallelism at several computational levels as well as maximum overlapping of computation and communication to increase the performance of parallel computation.

Fijany, Amir↗
NASA NTRS2011

G-DYN Multibody Dynamics Engine

G-DYN is a multi-body dynamic simulation software engine that automatically assembles and integrates equations of motion for arbitrarily connected multibody dynamic systems. The algorithm behind G-DYN is based on a primal-dual formulation of the dynamics that captures the position and velocity vectors (primal variables) of each body and the interaction forces (dual variables) between bodies, which are particularly useful for control and estimation analysis and synthesis. It also takes full advantage of the spare matrix structure resulting from the system dynamics to numerically integrate the equations of motion efficiently. Furthermore, the dynamic model for each body can easily be replaced without re-deriving the overall equations of motion, and the assembly of the equations of motion is done automatically. G-DYN proved an essential software tool in the simulation of spacecraft systems used for small celestial body surface sampling, specifically in simulating touch-and-go (TAG) maneuvers of a robotic sampling system from a comet and asteroid. It is used extensively in validating mission concepts for small body sample return, such as Comet Odyssey and Galahad New Frontiers proposals.

Acikmese, Behcet↗
NASA NTRS1986

COFS 3: Multibody dynamics and control technology

COFS 3 is the third project within the Control of Flexible Structures (COFS) program. It deals with developing multibody dynamics and control technology for large space structures. It differs from COFS 1 and 2 in two respects. First, it addresses a more complex class of structure, and second it is basically a scale model ground test and analysis program while COFS 1 and 2 feature Shuttle flight experiments. The specific technology thrusts within COFS 3 are model sensitivities, test methods, analysis validation, systems identification, and vibration suppression. The COFS 3 project will develop the methods for using dynamically scaled models and analysis to predict the structural dynamics of large space structures. The project uses the space station as a focus because it is typical of the structures of interest and provides the first opportunity to obtain full-scale on-orbit dynamics data.

Letchworth, Robert↗
NASA NTRS1989

Enhanced element-specific modal formulations for flexible multibody dynamics

The accuracy of current flexible multibody formalisms based on assumed modes is examined in the context of standard spacecraft motions involving structural components undergoing both slow and fast overall translational and rotational motions as well as small deformations. Limitations of current techniques in treating: (1) element-specific coupling behavior of large motion and small deformation, and (2) motion-induced structural stiffness variations, are noted. The roles of nonlinear and linear elastic structural theories in accurately predicting transient large-displacement dynamic behavior of flexible multibody systems are examined in detail. Coupling effects between deformation and overall motion are carefully scrutinized in the context of assumed-mode discretization techniques. Consistently linearized beam, plate, and shell formulations involving in-plane stretch variables are proposed and shown to yield very accurate simulation results and extremely fast modal convergence for most motions involving small strains. In some particular cases, however, in which membrane stiffness dominates bending stiffness, a nonlinear strain formulation is required in order to capture proper coupling between deformation and overall motion.

Ryan, Robert R.↗
NASA NTRS2007

Solving Equations of Multibody Dynamics

Darts++ is a computer program for solving the equations of motion of a multibody system or of a multibody model of a dynamic system. It is intended especially for use in dynamical simulations performed in designing and analyzing, and developing software for the control of, complex mechanical systems. Darts++ is based on the Spatial-Operator- Algebra formulation for multibody dynamics. This software reads a description of a multibody system from a model data file, then constructs and implements an efficient algorithm that solves the dynamical equations of the system. The efficiency and, hence, the computational speed is sufficient to make Darts++ suitable for use in realtime closed-loop simulations. Darts++ features an object-oriented software architecture that enables reconfiguration of system topology at run time; in contrast, in related prior software, system topology is fixed during initialization. Darts++ provides an interface to scripting languages, including Tcl and Python, that enable the user to configure and interact with simulation objects at run time.

Jain, Abhinandan↗
NASA NTRS1988

Recursive mass matrix factorization and inversion: An operator approach to open- and closed-chain multibody dynamics

This report advances a linear operator approach for analyzing the dynamics of systems of joint-connected rigid bodies.It is established that the mass matrix M for such a system can be factored as M=(I+H phi L)D(I+H phi L) sup T. This yields an immediate inversion M sup -1=(I-H psi L) sup T D sup -1 (I-H psi L), where H and phi are given by known link geometric parameters, and L, psi and D are obtained recursively by a spatial discrete-step Kalman filter and by the corresponding Riccati equation associated with this filter. The factors (I+H phi L) and (I-H psi L) are lower triangular matrices which are inverses of each other, and D is a diagonal matrix. This factorization and inversion of the mass matrix leads to recursive algortihms for forward dynamics based on spatially recursive filtering and smoothing. The primary motivation for advancing the operator approach is to provide a better means to formulate, analyze and understand spatial recursions in multibody dynamics. This is achieved because the linear operator notation allows manipulation of the equations of motion using a very high-level analytical framework (a spatial operator algebra) that is easy to understand and use. Detailed lower-level recursive algorithms can readily be obtained for inspection from the expressions involving spatial operators. The report consists of two main sections. In Part 1, the problem of serial chain manipulators is analyzed and solved. Extensions to a closed-chain system formed by multiple manipulators moving a common task object are contained in Part 2. To retain ease of exposition in the report, only these two types of multibody systems are considered. However, the same methods can be easily applied to arbitrary multibody systems formed by a collection of joint-connected regid bodies.

Rodriguez, G.↗