The Dynamics Analysis for Nonlinear Flexible Mechanisms using Finite Elements and Algebraic Quaternions

유한요소와 4원법을 이용한 비선형 유연체동역학의 해석기법

This paper deals with the development of computational schemes for the dynamic analysis of flexible and nonlinear multibody systems. Different from the existing method, this paper introduces the quaternion algebra to develop the equation of the conservation of energy. Simultaneously, Rodrigues parameters are used to express the finite rotation for the proposed scheme. The proposed energy scheme is derived such that it provides unconditionally stable conditions for the nonlinear problems. Several examples of dynamic systems are presented which illustrate the efficiency and accuracy of the developed energy schemes.