Abstract
AbstractIn this work, an energy and momentum conserving method is developed for doing coupled flexible and rigid body dynamics. The main focus is on the bilateral connection of flexible finite elements to rigid bodies. The coupling of rigid bodies at joints is also introduced. Existing conserving algorithms for individual (un‐coupled) rigid and flexible bodies are exploited and modified for the coupled system. By using the appropriate rigid body rotational update and generalized force definitions, the resulting rigid–flexible and rigid–rigid systems are unconditionally stable and conserve linear and angular momentum. The conservation and stability properties are demonstrated in numerical simulation. Published in 2001 by John Wiley & Sons, Ltd.
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