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| Implicit numerical algorithm for dynamical equations of the multibody systems with singularity position |
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| DOI：10.7511/jslx19974061 |
| KeyWord:multibody system,implicit algorithm |
| Wang Qi Huang Kelei Lu qishao |
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| Abstract: |
| The implicit numerical algorithm for dynamics of the multibody systems with singularity position of motion was studied. The canonical equations for dynamics of multibody systems were used in the numerical algorithm. The Jacobian matrix used in implicit methods was obtained in the submatrix forms,that was very good in computational efficiency and suitable for many implicit numerical methods. The paper presented implicit Adams method for multibody dynamics. The numerical resalts show that the computational efficiency and precision of implicit algorithms are better than that of explicit algorithms. |