ROLE OF MAGGI EQUATIONS IN COMPUTATIONAL METHODS FOR CONSTRAINED MULTIBODY SYSTEMS

This paper presents a unified theoretical basis for a class of methods that generate the governing equations of constrained dynamical systems by eliminating the constraints. By using Maggi's equations in conjunction with a common projective theory from numerical analysis, it is shown that members of the class are precisely characterized by the basis they choose for the null-space of the variational form of the constraints. For each method considered, the specific basis chosen for the null-space of the variational constraints is derived, as well as a dual basis for the orthogonal complement. The latter basis is of particular interest since it is shown that its knowledge theoretically enables one to generalize certain methods of the class to calculate constraint forces and torques. Practical approaches based on orthogonal transformations to effect this strategy are also outlined. In addition, since the theory presented herein stresses a common, fundamental structure to the various methods, it is especially useful as a means of comparing and evaluating individual numerical algorithms. The theory presented makes clear the relationship between certain numerical instabilities that have been noted in some methods that eliminate a priori constraint contributions to the governing equations by selecting an independent subset of unknowns. It is also briefly indicated how this formalism can be extended, in principle, to the wider class of nonlinear nonholonomic constraints. © 1990 American Institute of Aeronautics and Astronautics, Inc., All rights reserved.