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- Olivier A. Bauchau, Lorenzo Trainelli
- 2005

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)

- André Laulusa, SIMUDEC Pte, Olivier A. Bauchau, Daniel Guggenheim
- 2007

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)

A novel integration scheme for nonlinear dynamics of geometrically exact shells is developed based on the inextensible director assumption. The new algorithm is designed so as to imply the strict decay of the system total mechanical energy at each time step, and consequently unconditional stability is achieved in the nonlinear regime. Furthermore, the… (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)

- Olivier A. Bauchau, Daniel Guggenheim, André Laulusa
- 2007

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)

- Carlo L. Bottasso, Olivier A. Bauchau, Alberto Cardona
- SIAM J. Scientific Computing
- 2007

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 displacementvelocity-multiplier and to the reduced displacement-multiplier forms. The analysis of the transformed system shows that conditioning and sensitivity to perturbations become… (More)

- Olivier A. Bauchau, Carlo L. Bottasso, Olivier A. Bauchau, CARLO L. BOTTASSOz
- 1994

Energy preserving/decaying schemes are presented for the simulation of the nonlinear multibody systems involving shell components. The proposed schemes are designed to meet four speci c requirements: unconditional nonlinear stability of the scheme, a rigorous treatment of both geometric and material nonlinearities, exact satisfaction of the constraints, and… (More)

A new algorithm is developed for the enforcement of constraints within the framework of nonlinear, flexible multibody system modeled with the finite element approach. The proposed algorithm exactly satisfies the constraints at the displacement and velocity levels, and furthermore, it achieves nonlinear unconditional stability by imposing the vanishing of… (More)

Linearized stability analysis methodologies that are applicable to general nonlinear rotorcraft problems are presented in this paper. Two classes of closely related algorithms, based on a partial Floquet and an autoregressive approach, are presented in a common framework that underlines their similarity and their relationship to other methods. The… (More)