Skip to main content
SpringerLink
Log in

Minimal-Form Multibody Dynamics for Embedded Multidisciplinary Applications

  • Conference paper
ROMANSY 18 Robot Design, Dynamics and Control

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 524))

  • 1983 Accesses

Abstract

Multibody dynamics is a largely explored field in which several successful methodologies and commercial codes coexist. Recently, there is ongoing research in developing efficient, easily embeddable codes that can be used as kernels for multidisciplinary applications. This is triggered by the quest to apply methods developed for robotic systems to systems featuring more complex kinematics. This paper describes two approaches for producing easily embeddable and efficient multibody code based on a minimal-form formulation: an object-oriented approach based on the kinetostatic transmission properties, and a symbolical approach based on regarding kinematical loops as transmission elements. The concepts are illustrated by application examples from industry and research.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Bibliography

  • J. Ambrosio and A. KecskemĂ©thy. Multibody dynamics of biomechanical models for human motion via optimization. In Juan Carlos Garcia Orden, JosĂ© M. Goicolea, and Javier Cuadrado, editors, Computational Methods in Applied Sciences. Springer Netherlands, 2007.

    Google Scholar 

  • E. Auer, A. Rauh, E.R Hofer, and W. Luther. Validated modeling of mechanical systems with smartmobile: Improvement of performance by valencia-ivp. In Reliable Implementation of Real Number Algorithms: Theory and Practice. Springer Netherlands, 2008.

    Google Scholar 

  • O. Bauchau. Parallel computation approaches for flexible multibody dynamics simulations. Journal of the Franklin Institute, 347:53–68, 2009.

    Article  MathSciNet  MATH  Google Scholar 

  • O. BrĂĽls, P. Duysinx, and J.-C. Golinval. A model reduction method for the control of rigid mechanisms. Multibody System Dynamics, 15:213–227, 2006.

    Article  MathSciNet  MATH  Google Scholar 

  • Paul Dierckx. Curve and Surface Fitting with Splines. Clarendon Press, Oxford, 1993.

    MATH  Google Scholar 

  • P. Fanghella, C. Galletti, and G. Torre. An explicit independent-coordinate formulation for the equations of motion of flexible multibodynext term systems. Mechanism and Machine Theory, 38:417–437, 2003.

    Article  MathSciNet  MATH  Google Scholar 

  • P.J. From, V. Duindam, K.Y. Pettersen, J.T. Gravdahl, and S. Sastry. Singularity-free dynamic equations of vehicle manipulator systems. Simulation Modelling Practice and Theory, 18:712–731, 2010.

    Article  Google Scholar 

  • F. Geu Flores, A. KecskemĂ©thy, and A. Pöttker. Workspace analysis and maximal force calculation of a face-shovel excavator using kinematical transformers. In CD Proceedings of the 12th World Congress in Mechanism and Machine Science, Besançon, France, June 18–21 2007.

    Google Scholar 

  • A. KecskemĂ©thy. An object-oriented differential-geometric approach to spatial mechanism dynamics. In 23th ASME Mechanisms Conference, pages 369–374, Minneapolis, September 11–14 1994.

    Google Scholar 

  • A. KecskemĂ©thy. MOBILE 1.3 User’s Guide and Reference Manual. University of Duisburg-Essen, 2003.

    Google Scholar 

  • A. KecskemĂ©thy and M. Hiller. Automatic closed-form kinematics-solutions for recursive single-loop chains. In Proc. of the 22nd Biennal ASME-Mechanisms Conference, Scottsdale (USA), volume DE-Vol. 47, pages 387–393, September 13–16, 1992.

    Google Scholar 

  • A. KecskemĂ©thy and M. Hiller. An object-oriented approach for an effective formulation of multibody dynamics. Computer Methods in Applied Mechanics and Engineering, 115:287–314, 1994.

    Article  Google Scholar 

  • A. KecskemĂ©thy, T. Krupp, and M. Hiller. Symbolic processing of multiloop mechanism dynamics using closed-form kinematics solutions. Multibody System Dynamics, 1(1):23–45, 1997.

    Article  MathSciNet  MATH  Google Scholar 

  • W.A. Khan, V.N. Krovi, S.K. Saha, and J. Angeles. Modular and recursive kinematics and dynamics for parallel manipulators. Multibody System Dynamics, 14:419–455, 2005.

    Article  MathSciNet  MATH  Google Scholar 

  • R. Lot and M. Da Lio. A symbolic approach for automatic generation of the equations of motion of multibody systems. Multibody System Dynamics, 12:147–172, 2004.

    Article  MATH  Google Scholar 

  • J. McPhee and S.M. Redmond. Modelling multibody systems with indirect coordinates. Computer Methods in Applied Mechanics and Engineering, 195:6942–6957, 2006.

    Article  MathSciNet  MATH  Google Scholar 

  • P.E. Nikravesh and E.J. Haug. Generalized coordinate partitioning for analysis of mechanical systems with nonholonomic constraints. ASME-Paper No. 82-DET-94, 1982.

    Google Scholar 

  • N. Orlandea. ADAMS (Theory and applications). In A.D. DePater and H.B. Pacejka, editors, Proc. 3rd Seminar on Advanced Vehicle Systems Dynamics (Amalfi, Mai 1986), pages 121–166, 1987.

    Google Scholar 

  • D. Raab, T. Stark, N.E. Erol, F. Löer, and A. KecskemĂ©thy. An integrated simulation environment for human gait analysis and evaluation. Materialwissenschaft und Werkstofftechnik — Materials Science and Engineering Technology, 40:43–53, January 2009.

    Google Scholar 

  • Wolfgang Rulka. SIMPACK — A computer program for simulation of largemotion multibody systems. In Werner Schiehlen, editor, Multibody Systems Handbook, pages 265–284. Springer-Verlag, Berlin, Heidelberg, New York, 1990.

    Chapter  Google Scholar 

  • W. Schiehlen. Dynamics of complex multibody systems. SM Archives, 9: 159–195, 1984.

    MATH  Google Scholar 

  • Robert W. Sebesta. Concepts of Programming Languages. Benjamin/Cummings Publishing Company, 1989.

    Google Scholar 

  • M. Tändl, A. KecskemĂ©thy, and M. Schneider. A design environment for industrial roller coasters. In CD Proceedings of the ECCOMAS Thematic Conference on Advances in Computational Multibody Dynamics, Milano, Italy, June 25–28 2007.

    Google Scholar 

  • R. Wirfs-Brock and B. Wilkerson. Object-oriented design: A responsibility-driven approach. In OOPSLA’89 Proceedings, pages 71–75, October 1989.

    Google Scholar 

  • S. Xia and A. KecskemĂ©thy. Comparison of computational efficiency of closed-loop mechanisms dynamics using automated closed-form solution and ADAMS. In Proceedings of the GAMM-Conference, Karlsruhe, Germany, March 22–26 2010. To be published.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. University Duisburg-Essen, LotharstraĂźe 1, 47057, Duisburg, Germany

    Kecskeméthy Andres (Chair of Mechanics and Robotics)

Authors
  1. Kecskeméthy Andres
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. University of Bologna, Italy

    Vincenzo Parenti Castelli

  2. University of Stuttgart, Germany

    Werner Schiehlen

Rights and permissions

Reprints and permissions

Copyright information

© 2010 CISM, Udine

About this paper

Cite this paper

Andres, K. (2010). Minimal-Form Multibody Dynamics for Embedded Multidisciplinary Applications. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_3

Download citation

  • DOI: https://doi.org/10.1007/978-3-7091-0277-0_3

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-7091-0276-3

  • Online ISBN: 978-3-7091-0277-0

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation