Constraint reduction for dynamic simulation

摘要

Methods, program products and systems for preparing a mechanical model for a dynamic simulation. A first plurality of bodies in a mechanical model are identified including at least one grounded body and at least one free body, each of the bodies in the first plurality of bodies being related to at least one other body in the plurality of bodies by at least one constraint that removes or limits at least one degree of freedom for that body in relation to another body. The bodies in the first plurality of bodies are merged into a minimum number of rigid groups needed for a dynamic simulation where the minimum number of rigid groups includes at least one grounded group and at least one mobile group. Constraints that relate bodies within a group are removed from each of the rigid groups.