M. Borri, L.
Trainelli, A. Croce
An
Index Reduction Method in Holonomic Systems Dynamics
presented at the Second
M.I.T. Conference on Computational Fluid and Solid Mechanics, Massachusetts
Institute of Technology, Cambridge, MA, USA, June 17-20, 2003.
Abstract
We present the application of the Embedded Projection
Method, a general methodology to reduce the DAE index to 1, to holonomically constrained
mechanical systems, which are naturally formulated in terms of index-3 DAE
problems. This procedure represents an extension to higher index of that
already presented in Ref. [3] for non-holonomic systems. The holonomic case is
more complex, requiring the introduction of modified coordinates in addition to
modified momenta and differentiated multipliers. Eventually we recover the same
qualitative result as in the non-holonomic case: a complete uncoupling of the
algebraic and differential parts of the problem which implies a gentler
numerical behavior with enhanced accuracy and stability. As a consequence, the
numerical integration of a index-higher-than-2 DAE can be performed by any
suitable ODE integrator, by-passing the need for a specialized DAE solver.