Conserving time integration schemes for holonomically constrained mechanical systems

Mr. Oscar Gonzales

Division of Applied Mathematics Stanford University

Time integration schemes which preserve constants of motion for conservative mechanical systems are addressed. The first part of this talk describes a general framework for the design of such conserving integrators within the context of general Hamiltonian systems. The second part describes how this general framework may be extended to canonical Hamiltonian systems subject to holonomic constraints; in particular, simple mechanical systems subject to configuration constraints. For the constrained case various issues regarding numerical implementation are discussed and an example is given within the context of nonlinear incompressible hyperelasticity.