Hybrid Recursive Formulation for Efficient Dynamic Simulation of General Multibody Systems

Abstract

In this study, the development of a hybrid recursive formulation alternatively executing the modified recursive algorithm or the fully recursive algorithm automatically for computational efficiency is introduced for general multibody systems. To enable the hybrid recursive formulation, we divided the global system into subsystems. To switch algorithms easily between the subsystems, we adjusted the modified recursive algorithm and the fully recursive algorithm to have the same definition of velocity state vector. These modifications increase the numerical efficiency of each algorithm. Analysis in the hybrid recursive formulation consists of subdivisions of the systems and selection between the fully recursive algorithm and the modified recursive algorithm, depending on the type of each subsystem. A broad range of numerical tests show this hybrid formulation is very efficient: It is as efficient as the modified recursive formulation in highly constrained parallel systems and has a linear property with respect to the number of subsystems as with the fully recursive formulation.

Keywords:

• Hybrid recursive formulation
• Joint coordinates; Fully recursive formulation; Modified recursive formulation; Subsystem; Multibody dynamics

Acknowledgments

Communicated by S. Velinsky