Métodos para resolucion del problema no lineal de equilibrio estatico en sistemas multicuerpo

Abstract

This paper presents different approaches for the solution of non-linelai equilibrium problems in multibody systems. These systems can include rigid and elastic elements. The ideas here presented are also able to deal with other position problems, for instance those which appear in the kinematic analysis of linkages. The error function used is very simple and is based in the potential of the system. The rigid elements are considered through non-linear constraints. Different approaches are described: Lagrange Multipliers, Penalty Functions, Primal-Dual methods and Weighted Stiffnesses.

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