Full Content is available to subscribers

Subscribe/Learn More  >

Automated Procedures for Robust and Efficient Solution of Over-Constrained Multibody Dynamics

[+] Author Affiliations
Roger A. Wehage

Caterpillar Inc., Mossville, IL

Paper No. IMECE2012-85259, pp. 515-524; 10 pages
  • ASME 2012 International Mechanical Engineering Congress and Exposition
  • Volume 4: Dynamics, Control and Uncertainty, Parts A and B
  • Houston, Texas, USA, November 9–15, 2012
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4520-2
  • Copyright © 2012 by ASME


The basic steps of a computer-based methodology that generates optimized runtime algorithms to achieve robust, stable, and efficient solution of constrained, multibody dynamics are summarized. The concept of using processors operating in the background to improve many aspects of an executing program’s performance on arbitrary models is introduced. Among the many optimizing tasks, algorithm processors extract model topology from body and joint descriptions, set up recursive spatial kinematics and generalized dynamics algorithms, block-partition constraints and apply Gaussian elimination with complete pivoting to identify and change dependent and independent variable sets, convert constraints into row-reduced, echelon form, permute the constrained generalized equations to achieve stable and efficient solutions, and set up recursive sparse uncoupling and solve algorithms to minimize fills and operations count. To accomplish these tasks, processors assess model-specific algorithm requirements and use this information to generate source and destination memory pointer arrays and arrays of pointers to structures and optimized functions. In essence, they wire and rewire runtime algorithms as needed to maintain robust, stable, and efficient solutions throughout a simulation.

Copyright © 2012 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In