Abstract
This paper presents the main features of the current version of the ROBOTRAN programme [1] whose purpose is to generate, in symbolic form, the equations of motion of multibody systems. The way the equations are generated is briefly described and the general structure of the programme is presented.
Then, some advantages of the symbolic approach and the corresponding techniques implemented in ROBOTRAN are explained. Finally, the way the programme has been adapted to deal with railway vehicle applications is presented for illustration purposes.
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References
Maes P., Samin J.C. and Willems P.Y., “Autodyn and Robotran”, Multibody System Handbook, W. Schielen (ed. ), Springer-Verlag, 1989.
Raucent B. and Samin J.C., “Modelling and Identifying the Dynamic Parameters of Robot Manipulators”, Robot Calibration,ed. R. Bernhardt and S. Albright, Chapman & Hall, to appear.
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Raucent B., Campion G., Bastin G., Samin J.C. and Willems P.Y., “Identification of the Barycentric Parameters of Robot Manipulators from External Measurements”, Automatica, Vol. 28, N° 5, pp. 1011-, 1016, 1992.
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Fisette P., Samin J.C. and Willems P.Y., “Contribution to Symbolic Analysis of Deformable Multi-Body Systems”, International Journal for Numerical Methods in Engineering, VOL. 32, 1621–1635 (1991).
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© 1993 Springer Science+Business Media Dordrecht
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Fisette, P., Samin, J.C. (1993). ROBOTRAN: Symbolic Generation of Multi-Body System Dynamic Equations. In: Schiehlen, W. (eds) Advanced Multibody System Dynamics. Solid Mechanics and Its Applications, vol 20. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0625-4_21
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DOI: https://doi.org/10.1007/978-94-017-0625-4_21
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4253-8
Online ISBN: 978-94-017-0625-4
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