The parameterization of rotation is the subject of continuous research and development in many theoretical and applied fields of mechanics, such as rigid body, structural , and multibody dynamics, robotics, spacecraft attitude dynamics, navigation, image processing, and so on. This paper introduces the vectorial parameterization of rotation, a class of… (More)
A hallmark of multibody dynamics is that most formulations involve a number of constraints. Typically, when redundant generalized coordinates are used, equations of motion are simpler to derive but constraint equations are present. Approaches to dealing with high index differential algebraic equations, based on index reduction techniques, are reviewed and… (More)
A hallmark of multibody dynamics is that most formulations involve a number of constraints. Typically, when redundant generalized coordinates are used, equations of motion are simpler to derive but constraint equations are present. While the dynamic behavior of constrained systems is well understood, the numerical solution of the resulting equations,… (More)
Finite element based formulations for flexible multibody systems are becoming increasingly popular and as the complexity of the configurations to be treated increases, so does the computational cost. It seems natural to investigate the applicability of parallel processing to this type of problems; domain decomposition techniques have been used extensively… (More)
We propose a simple preconditioning for the equations of motion of constrained mechanical systems in index three form. The scaling transformation is applied to the displacement-velocity-multiplier and to the reduced displacement-multiplier forms. The analysis of the transformed system shows that conditioning and sensitivity to perturbations become… (More)
This paper is concerned with the dynamic analysis of flexible, nonlinear multibody systems undergoing intermittent contacts. Contact is assumed to be of finite duration , and the forces acting between the contacting bodies which can be either rigid or deformable are explicitly computed during simulation. The modeling of contact consists of three parts: a… (More)
This investigation focuses on the development of multibody analytical models to predict the dynamic response, aeroelastic stability, and blade loading of a soft-inplane tiltrotor wind-tunnel model. Comprehensive rotorcraft-based multibody analyses enable modeling of the rotor system to a high level of detail such that complex mechanics and nonlinear effects… (More)
Objectives: Development of an effective procedure for displacement/strain field mapping using experimental measurements. Motivations: Application to Condition Based Maintenance (CBM) of rotorcraft. Provide feedback signal to on-board active control systems.