A Lagrangian Method for Constrained Dynamics in Tensegrity Systems with Compressible Bars

摘要: This paper presents a Lagrangian approach to simulating multibody dynamics in tensegrity framework with an ability tackle holonomic constraint violations energy-preserving scheme. Governing equations are described using non-minimum coordinates simplify descriptions of the structure's kinematics. To minimize drift arising from this redundant system, direct correction method has been employed conjunction novel energy-correcting scheme that treats total mechanical energy system as supplementary constraint. The formulation extended allow structures compressible bars, allowing for further discussion on potential choices softer bar materials. benchmark example involving common structure demonstrates superiority presented over Simscape Multibody terms motion accuracy well conservation. effectiveness is found be increasing extent deformations structure.