Kinematic and Dynamic Simulation of Multibody Systems

Professor Leckie, the consulting editor for applied mechanics, and I are pleased to present this volume of the series: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge by Professors Garcia de Jal6n and Bayo.

Author: Javier Garcia de Jalon

Publisher: Springer Science & Business Media

ISBN: 1461226007

Category: Science

Page: 440

View: 234

Mechanical engineering, an engineering discipline born of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound issues of productivity and competitiveness that require engineering solu tions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for informa tion in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that will cover a broad range of concentrations important to mechanical engineering graduate edu cation and research. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the front page of the volume. The areas of concentration are applied mechanics, biomechanics, computa tional mechanics, dynamic systems and control, energetics, mechanics of material, processing, thermal science, and tribology. Professor Leckie, the consulting editor for applied mechanics, and I are pleased to present this volume of the series: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge by Professors Garcia de Jal6n and Bayo. The selection of this volume underscores again the interest of the Mechanical Engineering Series to provide our readers with topical monographs as well as graduate texts. Austin Texas Frederick F. Ling v The first author dedicates this book to the memory of Prof F. Tegerizo (t 1988), who introduced him to kinematics.

MultiBody System SIMulation

Thus, this monograph contains a chap ter on software engineering with numerous examples from the work on MBSSIM. This is meant as a beacon for those of us who really do want to produce scientific software instead of just hacking some code.

Author: Reinhold von Schwerin

Publisher: Springer Science & Business Media

ISBN: 3642585159

Category: Computers

Page: 342

View: 760

... users on the other side of the fence ... have long said that until we numerical analysts take time to write good software and get it out to the users, our ideas will not be put into action. -C.W. GEAR IN [AIKE85] This monograph is based on my doctoral thesis which I wrote dur ing my work at the Interdisciplinary Center for Scientific Computing (IWR) at the Ruprecht-Karls University of Heidelberg. One of my intentions was and still is to stress the practical aspects leading from the conception of mathematical methods to their effective and efficient realization as scientific software. In my own experience, I had always wished there had been something to guide me through this engineering process which accompanies the basic research for which there were nu merous treatises dealing, e.g., with mathematical theory for descriptor systems. Therefore, I felt that writing this monograph provided a good op portunity to try to fill this gap by looking at software engineering from a scientific computing angle. Thus, this monograph contains a chap ter on software engineering with numerous examples from the work on MBSSIM. This is meant as a beacon for those of us who really do want to produce scientific software instead of just hacking some code. On the other hand, for those more interested in the theory of differential-algebraic equations, many bibliographical references have been included where appropriate.

Advanced Multibody System Dynamics

G. Sedlacek) Technical University of Darmstadt (Prof. P. Hagedorn) University of Duisburg M. Hiller) (Prof.

Author: Werner Schiehlen

Publisher: Springer Science & Business Media

ISBN: 9401706255

Category: Science

Page: 482

View: 854

The German Research Council (DFG) decided 1987 to establish a nationwide five year research project devoted to dynamics of multibody systems. In this project universities and research centers cooperated with the goal to develop a general pur pose multibody system software package. This concept provides the opportunity to use a modular structure of the software, i.e. different multibody formalisms may be combined with different simulation programmes via standardized interfaces. For the DFG project the database RSYST was chosen using standard FORTRAN 77 and an object oriented multibody system datamodel was defined. The project included • research on the fundamentals of the method of multibody systems, • concepts for new formalisms of dynamical analysis, • development of efficient numerical algorithms and • realization of a powerful software package of multibody systems. These goals required an interdisciplinary cooperation between mathematics, compu ter science, mechanics, and control theory. ix X After a rigorous reviewing process the following research institutions participated in the project (under the responsibility of leading scientists): Technical University of Aachen (Prof. G. Sedlacek) Technical University of Darmstadt (Prof. P. Hagedorn) University of Duisburg M. Hiller) (Prof.

IUTAM Symposium on Intelligent Multibody Systems Dynamics Control Simulation

This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the ...

Author: Evtim Zahariev

Publisher: Springer

ISBN: 3030005275

Category: Technology & Engineering

Page: 206

View: 634

This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the dynamics of motion, and analysis of loading of the devices and of their behaviour caused by the working conditions and natural phenomena. This requires up-to-date methods for dynamics analysis and simulation, novel methods for numerical solution of ODE and DAE, real-time simulation, passive, semi-passive and active control algorithms. Applied examples are mechatronic (intelligent) multibody systems, autonomous vehicles, space structures, structures exposed to external and seismic excitations, large flexible structures and wind generators, robots and bio-robots. The book covers the following subjects: -Novel methods in multibody system dynamics; -Real-time dynamics; -Dynamic models of passive and active mechatronic devices; -Vehicle dynamics and control; -Structural dynamics; -Deflection and vibration suppression; -Numerical integration of ODE and DAE for large scale and stiff multibody systems; -Model reduction of large-scale flexible systems. The book will be of interest for scientists and academicians, PhD students and engineers at universities and scientific institutes.

Dynamic Simulations of Multibody Systems

This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid body systems.

Author: Murilo G. Coutinho

Publisher: Springer Science & Business Media

ISBN: 147573476X

Category: Computers

Page: 379

View: 594

This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid body systems. It focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic simulation engines that can be used to generate convincing animations of physical events involving particles and rigid bodies. It can also be used to produce accurate simulations of mechanical systems, such as a robotic parts feeder. The book is intended for researchers in computer graphics, computer animation, computer-aided mechanical design and modeling software developers.

The Multibody Systems Approach to Vehicle Dynamics

New to this edition you will find coverage of the latest tire models, changes to the modeling of light commercial vehicles, developments in active safety systems, torque vectoring, and examples in AView, as well as updates to theory, ...

Author: Michael Blundell

Publisher: Elsevier

ISBN: 0080994288

Category: Technology & Engineering

Page: 768

View: 437

Filling the gaps between subjective vehicle assessment, classical vehicle dynamics and computer-based multibody approaches, The Multibody Systems Approach to Vehicle Dynamics offers unique coverage of both the virtual and practical aspects of vehicle dynamics from concept design to system analysis and handling development. The book provides valuable foundation knowledge of vehicle dynamics as well as drawing on laboratory studies, test-track work, and finished vehicle applications to gel theory with practical examples and observations. Combined with insights into the capabilities and limitations of multibody simulation, this comprehensive mix provides the background understanding, practical reality and simulation know-how needed to make and interpret useful models. New to this edition you will find coverage of the latest tire models, changes to the modeling of light commercial vehicles, developments in active safety systems, torque vectoring, and examples in AView, as well as updates to theory, simulation, and modeling techniques throughout. Unique gelling of foundational theory, research findings, practical insights, and multibody systems modeling know-how, reflecting the mixed academic and industrial experience of this expert author team Coverage of the latest models, safety developments, simulation methods, and features bring the new edition up to date with advances in this critical and evolving field

Semantic Data Model for Multibody System Modelling

This is accomplished by developing a multibody system modelling ontology, i.e. a semantic data model for multibody system model description, and then applying this ontology to model an example multibody system.

Author: Juha Kortelainen

Publisher:

ISBN: 9789513877422

Category: Many-body problem

Page:

View: 162

Multibody system simulation, as one area of system simulation, represents a considerable improvement in predicting machine dynamic performance compared to previous methods that are often based on analytic equations or empirical testing. With multibody system simulation, it is fast and ecient to study the eects of design variables on the dynamic behaviour of the mechanism compared to the experimental approach. Accordingly, the use of multibody system simulation in the design process can decrease the need for physical prototypes, thus accelerating the overall design process and saving resources. In the product development sense, the interaction between computational tools can be cumbersome. For this reason, multibody system simulation is often omitted in terms of the main stream of product development. Due to the increase of computational resources, the trend is towards extensive usage of simulation, including multibody system simulation, in the product development. The research emphasis in the eld of multibody system dynamics has been on the areas of improved multibody system formulations, such as recursive methods, representation of exible structures, application of multibody simulation in new areas such as biomechanics, and including multibody simulation into multitechnical and multiphysics simulation. The research on modelling data management and integration approaches concerning tools applied in product design and development has not been in the main stream. The growth of the World Wide Web and the evolution of Web technologies have multiplied the amount of data and information available on the Internet. In this expansion of information, it has become cumbersome to nd and distil the useful information from the data mass. In order to utilise the information available on the Internet and to sort meaningful information out of the data mass, the World Wide Web Consortium began a development project for the next generation Web, the Semantic Web. In this development eort, methods and technologies based on semantic data representation are developed and utilised. These methods and technologies are general enough to be applied to other application areas as well. This work concentrates on the modelling data management of multibody system simulation within a simulation-based product process. The main objectives of this work can be summarised as follows: introduce a procedure for managing multibody system modelling data using semantic data model and ontology-based modelling approach, demonstrate that the semantic data model allows application-based reasoning on the model data, and show that ontologybased modelling is able to capture domain knowledge by using semantic data and constraint- and rule-based reasoning. In this work, the semantic data representation approach is used for describing modelling data of a multibody system. This is accomplished by developing a multibody system modelling ontology, i.e. a semantic data model for multibody system model description, and then applying this ontology to model an example multibody system.


Symbolic Modeling of Multibody Systems

In this volume, the relevant fundamental principles are first reviewed in detail and illustrated in conformity with the multibody formalisms that follow.

Author: J-C. Samin

Publisher: Springer Science & Business Media

ISBN: 940170287X

Category: Technology & Engineering

Page: 476

View: 967

Modeling and analysing multibody systems require a comprehensive understanding of the kinematics and dynamics of rigid bodies. In this volume, the relevant fundamental principles are first reviewed in detail and illustrated in conformity with the multibody formalisms that follow. Whatever the kind of system (tree-like structures, closed-loop mechanisms, systems containing flexible beams or involving tire/ground contact, wheel/rail contact, etc), these multibody formalisms have a common feature in the proposed approach, viz, the symbolic generation of most of the ingredients needed to set up the model. The symbolic approach chosen, specially dedicated to multibody systems, affords various advantages: it leads to a simplification of the theoretical formulation of models, a considerable reduction in the size of generated equations and hence in resulting computing time, and also enhanced portability of the multibody models towards other specific environments. Moreover, the generation of multibody models as symbolic toolboxes proves to be an excellent pedagogical medium in teaching mechanics.

Fundamentals of Multibody Dynamics

The work may also be used as a self-study resource or research reference for practitioners in the above-mentioned fields.

Author: Farid Amirouche

Publisher: Springer Science & Business Media

ISBN: 0817644067

Category: Technology & Engineering

Page: 684

View: 560

This textbook – a result of the author’s many years of research and teaching – brings together diverse concepts of the versatile tool of multibody dynamics, combining the efforts of many researchers in the field of mechanics.

Flexible Multibody System Dynamics Theory And Applications

This volume examines the theoretical and practical needs on the subject of multibody system dynamics with emphasis on flexible systems and engineering applications. lt focuses on developing an all purpose algorithm for the dynamic ...

Author: Mingjun Xie

Publisher: Routledge

ISBN: 1351448331

Category: Science

Page: 226

View: 197

This volume examines the theoretical and practical needs on the subject of multibody system dynamics with emphasis on flexible systems and engineering applications. lt focuses on developing an all purpose algorithm for the dynamic simulation of flexible tree-like systems making use of matrix representation at all levels. The book covers new theories with engineering applications involved in broad fields which include; civil engineering, aerospace and robotics, as well as general and mechanical engineering. The applications include high temperature conditions, time variant contact conditions, biosystem analysis, vibration minimization and control.


Multibody Systems Handbook

The Handbook will aid the reader in selecting the software system which is most appropriate to his needs. Altogether 17 research groups contributed to the Handbook.

Author: Werner Schiehlen

Publisher: Springer Science & Business Media

ISBN: 3642509959

Category: Technology & Engineering

Page: 432

View: 473

Dynamics of multibody systems is of great importance in the fields of robotics, biomechanics, spacecraft control, road and rail vehicle design, and dynamics of machinery. Many research problems have been solved and a considerable number of computer codes based on multibody formalisms is now available. With the present book it is intended to collect software systems for multibody system dynamics which are well established and have found acceptance in the users community. The Handbook will aid the reader in selecting the software system which is most appropriate to his needs. Altogether 17 research groups contributed to the Handbook. A compact summary of important capabilities of these software systems is presented in tabular form. All authors dealt with two typical test examples, a planar mechanism and a spatial robot. Thus, it is very easy to compare the results and to identify more clearly the advantages of one or the other formalism.

Dynamics of Multibody Systems

This book adresses the general problem of analysing the behaviour of such multibody systems by digital simulation.

Author: Robert E. Roberson

Publisher: Springer

ISBN: 9783642864667

Category: Technology & Engineering

Page: 460

View: 794

Multibody systems are the appropriate models for predicting and evaluating performance of a variety of dynamical systems such as spacecraft, vehicles, mechanisms, robots or biomechanical systems. This book adresses the general problem of analysing the behaviour of such multibody systems by digital simulation. This implies that pre-computer analytical methods for deriving the system equations must be replaced by systematic computer oriented formalisms, which can be translated conveniently into efficient computer codes for - generating the system equations based on simple user data describing the system model - solving those complex equations yielding results ready for design evaluation. Emphasis is on computer based derivation of the system equations thus freeing the user from the time consuming and error-prone task of developing equations of motion for various problems again and again.

Introduction to Mechanical System Simulation Using Adams

This book contains an introduction to Adams theory which provides the basics on how Adams models are formulated and then numerically solved. Finally, this book concludes with some success stories taken from industry.

Author: James B. McConville

Publisher: SDC Publications

ISBN: 1585039888

Category: Computers

Page: 152

View: 888

This book is intended to familiarize you with the basics of theory and practice in Adams Multibody Dynamics (MBD) modeling. The content has been developed to be beneficial to readers who are students or practicing engineers who are either completely new to MBD modeling or have some experience with MBD modeling. The author’s lengthy experience using the Adams software adds a practical and, occasionally, humorous complement to standard documentation and training materials, intended to benefit you while learning Adams. The book features relatively small examples which you can readily build and execute. This book contains an introduction to Adams theory which provides the basics on how Adams models are formulated and then numerically solved. Finally, this book concludes with some success stories taken from industry.


Dynamics and Balancing of Multibody Systems

This book has evolved from the passionate desire of the authors in using the modern concepts of multibody dynamics for the design improvement of the machineries used in the rural sectors of India and The World.

Author: Himanshu Chaudhary

Publisher: Springer Science & Business Media

ISBN: 354078179X

Category: Technology & Engineering

Page: 176

View: 481

This book has evolved from the passionate desire of the authors in using the modern concepts of multibody dynamics for the design improvement of the machineries used in the rural sectors of India and The World. In this connection, the first author took up his doctoral research in 2003 whose findings have resulted in this book. It is expected that such developments will lead to a new research direction MuDRA, an acronym given by the authors to “Multibody Dynamics for Rural Applications. ” The way Mu- DRA is pronounced it means ‘money’ in many Indian languages. It is hoped that practicing MuDRA will save or generate money for the rural people either by saving energy consumption of their machines or making their products cheaper to manufacture, hence, generating more money for their livelihood. In this book, the initial focus was to improve the dynamic behavior of carpet scrapping machines used to wash newly woven hand-knotted c- pets of India. However, the concepts and methodologies presented in the book are equally applicable to non-rural machineries, be they robots or - tomobiles or something else. The dynamic modeling used in this book to compute the inertia-induced and constraint forces for the carpet scrapping machine is based on the concept of the decoupled natural orthogonal c- plement (DeNOC) matrices. The concept is originally proposed by the second author for the dynamics modeling and simulation of serial and - rallel-type multibody systems, e. g.



Modelling and Simulation of Multibody Systems with Unilateral Contact

The framework of this work largely relies on formulations at the impulse-momentum level of multibody system dynamics. Implicit integration schemes make the numerical simulation of such systems stable, as well as robust.

Author: Albert Peiret Gimenez

Publisher:

ISBN:

Category:

Page:

View: 113

"Models based on bodies that interact with each other are also known as multibody systems. Such models are proven to be very useful for representing the motion of many different kinds of systems, from industrial machinery to the human body. In many cases, rigid bodies can be employed if their deformation is negligible compared to their displacement, which significantly reduces the complexity of the model. Moreover, numerical simulations of multibody systems can be very efficient, and be used for real-time interactive applications in engineering and computer animation. The focus of this thesis is on the modelling and simulation of multibody systems, with especial emphasis to unilateral contact and friction between the bodies. The inherent non-smooth nature of contact is approached using the concept of unilateral constraints, which leads the system dynamics to formulate linear complementarity problems. However, these formulations can present inconsistencies when Coulomb friction is used to model contact, which can compromise the solvability of the dynamic equations and the numerical simulation as well. Here, the contact problem is analyzed using a novel representation of the generalized friction cone that is able to capture different phenomena, such as the Painlevé paradox. The framework of this work largely relies on formulations at the impulse-momentum level of multibody system dynamics. Implicit integration schemes make the numerical simulation of such systems stable, as well as robust. Additionally, constraint regularization also helps the model to cope with redundancy of the contact forces. A new regularized friction model based on the bristle approach is presented, which models the flexibility of the system at the contact interface, and is able to capture the static behavior of friction, or sticking. Moreover, other techniques that facilitate the simulation of large scale systems are also proposed herein. Substructuring of multibody systems groups the bodies into subsystems, which allows the system dynamics to be solved in different processing units (CPUs), and reduces the computational time by performing the operations in parallel. This is achieved by means of formulating the effective mass of the system at the coupling interfaces, which can also be used to couple the simulation to other systems of different nature and time-scale, such as hydraulic systems. Interestingly, co-simulation of such multi-physics systems is currently in the spotlight of many engineering applications ranging from virtual prototyping to simulation with hardware in the loop"--