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MSNDC Award Lecture
Javier Garcia de Jalon
Universidad Politécnica de Madrid,
Spain
Wednesday, August 31, 2011 Session: MSNDC 7-2
10:40am–12:00pm Location: Regency B
2011 D’Alembert Award Lecture (MSNDC)
Multibody Systems Made Simple and Efficient
The first part of this presentation reviews the origin and initial
development of natural or fully Cartesian coordinates. These
coordinates allow the description of position and orientation of
3-D multibody systems in a straightforward way, with the
constraint equations formulated in terms of dot and cross
products of vectors. The simplicity of these constraint equations
promotes some developments in dynamic formulations based
on the use of both dependent and independent coordinates.
Redundant constraints and singular mass matrices can be set
out and solved in a direct and simple way. The second part of
this presentation deals with the application of natural
coordinates in three important areas: flexible multibody systems,
the capture and reconstruction of the human body motion, and
optimization. Finally the evolution of global formulations based
on natural coordinates to semi-recursive topological
formulations using relative coordinates is described in detail.
Such evolution allows a higher level of efficiency while retaining
the simplicity of the mathematical development, the numerical
algorithms, and the implementation in current computers. The
different issues included in this presentation are illustrated with
classical and modern examples, such as small and large
systems or academic and practical cases. Some theoretical
contributions from other authors are also mentioned in the
context of natural coordinates and their evolution.
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KEYNOTE AND AWARD LECTURES
Biographical Description: Professor Javier García de Jalón
was born in Zaragoza (Spain) in 1949. He graduated in
Mechanical Engineering from the University of Navarre at San
Sebastián (Spain) in 1971, and received his Ph.D. in September
1977 in Computational Mechanics. In 1977 he moved to the
School of Engineering of Bilbao, where he started his work in
kinematics and dynamics of multibody systems, becoming a full
professor on Mechanisms and Machines in 1980. In 1979 he
started the development of the so-called “natural coordinates”,
a system of generalized coordinates that bypasses the use of
angles to describe the configuration of a multibody system.
These coordinates seamlessly connect the kinematics and
dynamics of multibody systems with finite-element models and
optical motion-capture systems. Since their initial formulation,
these coordinates have found numerous applications, including
to the study of flexible bodies and biomechanics. In 1981 Prof.
García de Jalón returned to San Sebastián and until 2000 he
worked in the Applied Mechanics Department of the University
of Navarre and CEIT (Centre of Technical and Research Studies
of Gipuzkoa), where he served as Professor, senior Researcher,
and Head of the Department. In 2000 he moved to the
Universidad Politécnica de Madrid, where he is Professor of
Applied Mathematics in the Mechanical Engineering School. He
also works for INSIA (University Institute for Automobile
Research), where he develops methods and software for real
time simulation, design, and parameter identification of vehicles.
Prof. García de Jalón has authored over 80 papers in
international Journal and Conferences. In 1994 he co-authored
with Prof. Bayo the book “Kinematic and Dynamic Simulation of
Multibody Systems -The Real Time Challenge-”, that mostly
summarizes the theory on natural coordinates and penalty
methods as a way to enforce kinematic constraints. He has
supervised 19 doctoral dissertations, among them seven
university professors. In a 1987 talk at the VIIth IFTóMM World
Congress on the Theory of Machines and Mechanisms, in Seville
(Spain), he presented a multibody kinematic and dynamic
program that ran interactively with realistic CAD models on one
of the first 3-D graphic workstations. This was the starting point
for a large activity of research and consulting work for many
institutions, including the ESA (European Space Agency),
Mechanical Dynamics, Inc., and other Spanish and European
institutions.