A1 Journal article (refereed), original research

Comparing double-step and penalty-based semirecursive formulations for hydraulically actuated multibody systems in a monolithic approach

Open Access hybrid publication

Publication Details

Authors: Jaiswal Suraj, Rahikainen Jarkko, Khadim Qasim, Sopanen Jussi, Mikkola Aki

Publisher: Springer Verlag (Germany)

Publication year: 2021

Language: English

Related journal or series: Multibody System Dynamics

Volume number: 52

Start page: 169

End page: 191

Number of pages: 23

ISSN: 1384-5640

eISSN: 1573-272X

JUFO level of this publication: 2

Digital Object Identifier (DOI): http://dx.doi.org/10.1007/s11044-020-09776-4

Permanent website address: https://link.springer.com/article/10.1007/s11044-020-09776-4

Social media address: https://www.researchgate.net/publication/348663138_Comparing_double-step_and_penalty-based_semirecursive_formulations_for_hydraulically_actuated_multibody_systems_in_a_monolithic_approach

Open Access: Open Access hybrid publication

Location of the parallel saved publication: http://urn.fi/URN:NBN:fi-fe2021060734323


The simulation of mechanical systems often requires modeling of systems of other physical nature, such as hydraulics. In such systems, the numerical stiffness introduced by the hydraulics can become a significant aspect to consider in the modeling, as it can negatively effect to the computational efficiency. The hydraulic system can be described by using the lumped fluid theory. In this approach, a pressure can be integrated from a differential equation in which effective bulk modulus is divided by a volume size. This representation can lead to numerical stiffness as a consequence of which time integration of a hydraulically driven system becomes cumbersome. In this regard, the used multibody formulation plays an important role, as there are many different procedures for the constraint enforcement and different sets of coordinates to choose from. This paper introduces the double-step semirecursive approach and compares it with a penalty-based semirecursive approach in case of coupled multibody and hydraulic dynamics within the monolithic framework. To this end, hydraulically actuated four-bar and quick-return mechanisms are analyzed as case studies. The two approaches are compared in terms of the work cycle, energy balance, constraint violation, and numerical efficiency of the mechanisms. It is concluded that the penalty-based semirecursive approach has a number of advantages compared with the double-step semirecursive approach, which is in accordance with the literature.


Last updated on 2021-05-10 at 10:36