Numerical investigation on the constraint violation suppression methods efficiency and accuracy for dynamics of mechanisms with flexible links and friction in joints

Abstract

In this paper, a mathematical model of the spatial mechanism with a serial closed-loop structure composed of spherical, revolute and prismatic joints taking into account links’ flexibility and friction in joints is formulated. Two approaches of the Rigid Finite Element Method (classical and modified) are analysed in the context of constraints violations. Numerical efficiency and accuracy of the constraint violation suppression (CVS) methods are studied when friction in joints and links’ flexibility are taken into account. Advantages and drawbacks of these methods for selected ODE solvers are also discussed. The most suitable CVS methods dedicated for the spatial mechanism defined using the formalism of joint coordinates are proposed in the paper. General conclusions are given in the final part of the paper.