2020/08/31 by Shao‐Chen Hsu, Hsu, Shao-Chen, Vaishnav Tadiparthi +3
Computer Science · Engineering · #Architecture and Computational Design #Computational Geometry and Mesh Generation #FOS: Electrical engineering #Structural Analysis and Optimization #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2008.13772
openalex publication_date 2020/08/31 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper presents a Lagrangian approach to simulating multibody dynamics in\na tensegrity framework with an ability to tackle holonomic constraint\nviolations in an energy-preserving scheme. Governing equations are described\nusing non-minimum coordinates to simplify descriptions of the structure's\nkinematics. To minimize constraint drift arising from this redundant system,\nthe direct correction method has been employed in conjunction with a novel\nenergy-correcting scheme that treats the total mechanical energy of the system\nas a supplementary constraint. The formulation has been extended to allow\ntensegrity structures with compressible bars, allowing for further discussion\non potential choices for softer bar materials. The benchmark example involving\na common tensegrity structure demonstrates the superiority of the presented\nformulation over Simscape Multibody in terms of motion accuracy as well as\nenergy conservation. The effectiveness of the energy correction scheme is found\nto be increasing with the extent of deformations in the structure.\n