The development of a tool for simulation of constrained multibody dynamics is a sophisticated problem. There are a lot of conditions that the simulating tool should satisfy: numerical efficiency, stability, distributivity, flexibility, interaction with other tools, distributed development, etc.
Trying to answer the requirements, we developed and implemented the method of distributed simulation of mechanical systems. Unlike a huge number of other methods, we keep the block-module concept during simulation. The main advantages of our approach are separate testing of subsystems, encapsulation of critical effects inside of subsystems and distributed simulation of subsystems.
It is an exact, non-iterative algorithm that is applicable to mechanisms with any joint type and any topology, including branches and kinematic loops. The technique can be implemented for various systems of connected bodies with variable number of degrees of freedom such as systems with coulomb frictions.
Complexity of the simulation of good-partitioned systems requires O(n) floating point operations, that is comparable with the fastest available algorithms. The combination of generalized and absolute coordinates significantly increases the method’s efficiency.
The object-oriented implementation of the algorithm significantly reduces the cost and development time of modelling. The tests use a car system with a closed-loop structure as one example and a spatial manipulator as another. Both models are performed using an object-oriented approach, with several levels of hierarchy. Numerical simulation shows the stability of the method. Drift is constant and is limited to the order of the computation accuracy.
For the validation of the simulations results we have built up the same models in Dymola and Simpack software. The comparison shows that the dynamics of the models was calculated correctly.