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A comparative study of numerical modelling and analysis for large articulated pendulums

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cris.virtual.department Universiti Malaysia Perlis
cris.virtual.department Universiti Malaysia Perlis
cris.virtual.department Universiti Malaysia Perlis
cris.virtual.department Universiti Malaysia Perlis
cris.virtualsource.department 78d9ff14-28eb-49b3-aa3f-09bec39499dd
cris.virtualsource.department f65a4d28-3238-466d-a3c5-15db1fb016df
cris.virtualsource.department 63a8851e-b9a0-4201-93cd-e9e58271076e
cris.virtualsource.department 85278b1f-1bda-4ede-a5f7-a845a9701f89
dc.contributor.author Siti Fatimah Azzahra Ahmad Noh
dc.contributor.author Mohamad Ezral Baharudin
dc.contributor.author Mohd Zakimi Zakaria
dc.contributor.author Mohd Sazli Saad
dc.contributor.author Azuwir Mohd Nor
dc.date.accessioned 2026-01-20T02:32:32Z
dc.date.available 2026-01-20T02:32:32Z
dc.date.issued 2025-05
dc.description.abstract In this article, we present a large system of multiple pendulums, also articulated pendulums, with twenty pendulums as a multibody model. The main objective of the study is to compare the computational time efficiency of two multibody formulations: the augmented Lagrangian and the recursive method for each articulated system. The equations of motion were derived for each formulation and the fourth- and fifth-order Runge-Kutta methods were utilised to solve for the equations by representing the kinematics and dynamics of the systems numerically. The computational times that corresponded to the manipulated step size and tolerance were compared for both formulations. The results showed that the augmented Lagrangian formulation had a significant divergence towards the negative y-axis at tolerance 0.1s for all modified step sizes. The animations also demonstrated elongation for specific pendulums based on the step size selection at a tolerance 0.1s. The recursive method, on the other hand, produced the best-fit plots and stable results for all xy-position and velocity-time plots for each adjusted step size and tolerance. Therefore, the recursive method is concluded to be more efficient than the augmented Lagrangian formulation in solving large open-loop multibody systems.
dc.identifier.doi 10.37934/ARAM.129.1.105121
dc.identifier.uri https://semarakilmu.com.my/journals/index.php/appl_mech/article/view/9481
dc.identifier.uri https://semarakilmu.com.my/
dc.identifier.uri https://hdl.handle.net/20.500.14170/15790
dc.language.iso en
dc.publisher Semarak Ilmu Publishing
dc.relation.ispartof Journal of Advanced Research in Applied Mechanics
dc.relation.issn 2289-7895
dc.subject Augmented Lagrangian
dc.subject Fully recursive
dc.subject Multibody dynamics
dc.title A comparative study of numerical modelling and analysis for large articulated pendulums
dc.type journal-article
dspace.entity.type Publication
oaire.citation.endPage 121
oaire.citation.issue 1
oaire.citation.startPage 105
oaire.citation.volume 129
oairecerif.author.affiliation Universiti Malaysia Perlis
oairecerif.author.affiliation Universiti Malaysia Perlis
oairecerif.author.affiliation Universiti Malaysia Perlis
oairecerif.author.affiliation Universiti Malaysia Perlis
oairecerif.author.affiliation Universiti Malaysia Perlis
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