Lie group generalized-α time integration of constrained flexible multibody systems

This paper studies a Lie group extension of the generalized-α time integration method for the simulation of flexible multibody systems. The equations of motion are formulated as an index-3 differential-algebraic equation (DAE) on a Lie group, with the advantage that rotation variables can be taken into account without the need of introducing any parameterization. The proposed integrator is designed to solve this equation directly on the Lie group without index reduction. The convergence of the method for DAEs is studied in detail and global second-order accuracy is proven for all solution components, i.e. for nodal translations, rotations and Lagrange multipliers. The convergence properties are confirmed by three benchmarks of rigid and flexible systems with large rotation amplitudes. The Lie group method is compared with a more classical updated Lagrangian method which is also formulated in a Lie group setting. The remarkable simplicity of the new algorithm opens interesting perspectives for real-time applications, model-based control and optimization of multibody systems.

► Lie group formulations are proposed for multibody systems with rotation variables.
► The equations of motion are formulated without any parameterization of rotations.
► The integration method can solve constrained problems without index reduction.
► Second-order convergence is proven for index-3 DAEs.
► The method is illustrated for several rigid and flexible multibody systems.