An energy and momentum conserving method for rigid-flexible body dynamics

In this work, an energy and momentum conserving method is developed for doing coupled 0exible and rigid body dynamics. The main focus is on the bilateral connection of 0exible :nite elements to rigid bodies. The coupling of rigid bodies at joints is also introduced. Existing conserving algorithms for individual (un-coupled) rigid and 0exible bodies are exploited and modi:ed for the coupled system. By using theappropriaterigid body rotational updateand generalized forcede :nitions, there sulting rigid–0exibleand rigid–rigid systems areunconditionally stableand conserveline ar and angular momentum. The conservation and stability properties are demonstrated in numerical simulation. Published in 2001 by John Wiley & Sons, Ltd