Conserving integration of multibody systems with singular and non-constant mass matrix including quaternion-based rigid body dynamics
Philipp L. Kinon,
Peter Betsch
Abstract:Mechanical systems with singular and/or configuration-dependent mass matrix can pose difficulties to Hamiltonian formulations, which are the standard choice for the design of energy-momentum conserving time integrators. In this work, we derive a structure-preserving time integrator for constrained mechanical systems based on a mixed variational approach. Livens’ principle (or sometimes called Hamilton–Pontryagin principle) features independent velocity and momentum quantities and circumvents the need to invert… Show more
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