Abstract
In this paper, the modal integration method is applied to flexible multibody systems. Even though the concept of this integration method is popular in structural dynamics, this technique has been rarely used in multibody mechanical systems containing a mix of rigid and flexible bodies. However, there are several advantages to the modal integration technique when it is applied to so-called stiff differential equations. Due to the orthogonality of the modal matrix, we can obtain the uncoupled equations of motion. This allows exact solutions for the linearized equations of motion in modal coordinates. Therefore, the time step taken is only restricted by the range over which the linearization holds. This drastically increases the size of the time steps which can be used. Since modal integration is performed on linearized differential equations, linearization schemes are discussed in the first part of this paper. The modal integration method described here is applied to two representative mechanisms with flexible bodies, and the results are included.
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