The rotating rigid body model based on a non-twisting frame

TL;DR

This paper introduces a novel rotating rigid body model based on a non-twisting frame, deriving new equations, conservation laws, and energy-momentum schemes, with numerical results demonstrating high accuracy and conservation properties.

Contribution

It presents a new non-twisting frame model for rigid bodies, including novel equations, conservation laws, and energy-momentum integrators, advancing the modeling of nonholonomic systems.

Findings

The model conserves kinetic energy and nonholonomic momenta.

Numerical schemes accurately preserve conservation laws.

Results show high accuracy and stability in simulations.

Abstract

This work proposes and investigates a new model of the rotating rigid body based on the non-twisting frame. Such a frame consists of three mutually orthogonal unit vectors whose rotation rate around one of the three axis remains zero at all times and thus, is represented by a nonholonomic restriction. Then, the corresponding Lagrange-D'Alembert equations are formulated by employing two descriptions, the first one relying on rotations and a splitting approach, and the second one relying on constrained directors. For vanishing external moments, we prove that the new model possesses conservation laws, i.e., the kinetic energy and two nonholonomic momenta that substantially differ from the holonomic momenta preserved by the standard rigid body model. Additionally, we propose a new specialization of a class of energy-momentum integration schemes that exactly preserves the kinetic energy and the nonholonomic momenta replicating the continuous counterpart. Finally, we present numerical results that show the excellent conservation properties as well as the accuracy for the time-discretized governing equations.