Parallel iterative algorithm for constrained multibody systems in mechanics

This paper introduces a new family of Second-order methods for solving the index-1 DAEs of motion for flexible mechanism dynamics. These methods, which extend the a-methods for ODEs of structural dynamics to DAEsConvergence and stability is given and verifies that the DAEs a-methods introduce no addition oscillations and preserve the stability of the underlying ODEs. Convergence of the Newton iteration, which can be a source of difficulty in solving nonliner oscillatory systems with large stepsizes, is achieved via a coordinate-split modification to the Newton iteration.