Olivier A. Bauchau

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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. While the dynamic behavior of constrained systems is well understood, the numerical solution of the resulting equations,(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)
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)
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)
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)