Efficient Algorithms for Multibody Systems

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Department of Mechanics, Biomechanics and Mechatronics

Synopsis:

The student will be acquainted with the main modern methods of efficient algorithms for multibody systems.

Overview of traditional multibody systems and their problems.

Efficient algorithms of kinematical solution: parametric method, method of structural approximation.

Efficient algorithms of dynamic solution: Recursive formalism of articulated body inertia method.

Efficient algorithms of dynamic solution: Recursive formalism of composite rigid body method.

Efficient algorithms of dynamic solution: Recursive formalism of residual method.

Efficient algorithms for parallel-processor dynamic solution: Divide-and-Conquer method.

Efficient algorithms for solving dynamics on parallel processors: elimination method.

Efficient algorithms for solving dynamics on parallel processors: molecular dynamics.

Methods of reduction of models of flexible multibody systems.

Methods of efficient use of symbolic algebra.

Efficient solution of differential-algebraic equations (DAE).

Co-simulation method.

Requirements:

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Study materials:

Stejskal, V. Valasek, M.: Kinematics and Dynamics of Machinery, Marcel Dekker, New York 1996

Featherstone, R.: Rigid Body Dynamics Algorithms, Springer 2008

Kukula P., Valasek M.: Kinematical Solution by Structural Approximation, In: Kecskeméthy A., Müller A. (eds) Computational Kinematics. Springer 2009, pp. 323-330

Rapaport, D.C.: The Art of Molecular Dynamics Simulation, Cambridge University Press 2010

Banerjee, A.K.: Flexible Multibody Dynamics: Efficient Formulations and Applications, John Wiley 2016

Arnold, M., Schiehlen, W. (eds.): Simulation Techniques for Applied Dynamics, Springer 2009

L. Mraz, Efficient Parallel Solution of Multibody Dynamics, Ph.D. Thesis, FME CVUT in Prague, 2017

odkaz: https://moodle-vyuka.cvut.cz/

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No time-table has been prepared for this course

The course is a part of the following study plans: