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Pro/Mechanica Motion - How It WorksPro/MECHANICA® Motion is a general dynamics Equation Solver and Pre-and Post-processor. It solves the equations of motion of a series of rigid bodies, which may be connected together by rigid joints or flexible components such as springs or flexible beams. To do this Mechanica Motion uses one of two methods to formulate the required equations, an enhanced version of Kane's Method (a modern technique for formulating efficient equations of motion, using a reduced set of relative joint coordinates), or Order (n) Formulation( another modern technique using a reduced set of relative joint coordinates, but the formulation time increases linearly with the number of degrees of freedom), depending on the number of point axes in the model. Motion uses Symbolic Equation Manipulation to implement these equations. Motion uses two solution methods. Kinetostatics is used if the net mobility of the system is 0, otherwise Time Integration is used, evaluating one or more times per requested time step. Two different numerical integration routines are available, explicit and implicit. The explicit routine uses an RK4 variable time step routine. The implicit routine uses a DAE integrator, and is preferred if the system is 'stiff'. It is best to use this routine with flexible beams, gears and friction. Optimisation in Motion uses either GDP (Gradient Projection), or SQP (Sequential Programming). |
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