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1.
Approximately 80% of the international transport of goods is carried on by means of ships. A large portion of the transport
capacity is represented by Roll-on-Roll-off (RoRo) ships. Especially in Europe this is a relevant potential for the RoRo segment.
Consequently, the design and construction of RoRo ships plays an increasing role for German shipyards and their suppliers.
In order to make the loading and unloading procedure of trailer economically more competitive, ship owners would like to improve
the lashing of trailers on the ship. On the basis of a multibody system formalism, a software tool has been developed which
allows for an optimization of the loading of trailers on RoRo ships.
Commemorative Contribution. 相似文献
2.
Compared to other fields of engineering, in mechanical engineering, the Discrete Element Method (DEM) is not yet a well known
method. Nevertheless, there is a variety of simulation problems where the method has obvious advantages due to its meshless
nature. For problems where several free bodies can collide and break after having been largely deformed, the DEM is the method
of choice. Neighborhood search and collision detection between bodies as well as the separation of large solids into smaller
particles are naturally incorporated in the method. The main DEM algorithm consists of a relatively simple loop that basically
contains the three substeps contact detection, force computation and integration. However, there exists a large variety of
different algorithms to choose the substeps to compose the optimal method for a given problem. In this contribution, we describe
the dynamics of particle systems together with appropriate numerical integration schemes and give an overview over different
types of particle interactions that can be composed to adapt the method to fit to a given simulation problem. Surface triangulations
are used to model complicated, non-convex bodies in contact with particle systems. The capabilities of the method are finally
demonstrated by means of application examples.
Commemorative Contribution. 相似文献
3.
Modeling mechatronic multibody systems requires the same type of methodology as for designing and prototyping mechatronic
devices: a unified and integrated engineering approach. Various formulations are currently proposed to deal with multiphysics
modeling, e.g., graph theories, equational approaches, co-simulation techniques. Recent works have pointed out their relative
advantages and drawbacks, depending on the application to deal with: model size, model complexity, degree of coupling, frequency
range, etc. This paper is the result of a close collaboration between three laboratories, and aims at showing that for “non-academic”
mechatronic applications (i.e., issuing from real industrial issues), multibody dynamics formulations can be generalized to
mechatronic systems, for the model generation as well as for the numerical analysis phases. Model portability being also an
important aspect of the work, they must be easily interfaced with control design and optimization programs. A global “demonstrator”,
based on an industrial case, is discussed: multiphysics modeling and mathematical optimization are carried out to illustrate
the consistency and the efficiency of the proposed approaches. 相似文献
4.
Twenty-five years of natural coordinates 总被引:3,自引:0,他引:3
Javier García de Jalón 《Multibody System Dynamics》2007,18(1):15-33
In the early eighties, the author and co-workers created and further developed the natural coordinates to describe the motion
of 2-D and 3-D multibody systems. Natural coordinates do not need angles or angular parameters to define orientation, leading
to constant inertia matrices and to the simplest form of the constraint equations. Natural coordinates are composed by the
Cartesian coordinates of some points and the Cartesian components of some unit vectors distributed on the different bodies
of the system. The points and vectors can be located in the joints, being shared by contiguous bodies, decreasing or even
eliminating the need to set joint constraints and reducing the total number of variables. However, other authors prefer not
to share variables in order to get even simpler equations and to keep a bigger decoupling of equations, which is preferable
in some cases.
In this paper the history of natural coordinates is reviewed, as well as the main contributions coming from other research
groups. In the second part of the paper some application areas in which natural coordinates can be particularly advantageous
are examined.
Commemorative Contribution. 相似文献
5.
In this paper, a new hybrid parallelisable low order algorithm, developed by the authors for multibody dynamics analysis,
is implemented numerically on a distributed memory parallel computing system. The presented implementation can currently accommodate
the general spatial motion of chain systems, but key issues for its extension to general tree and closed loop systems are
discussed. Explicit algebraic constraints are used to increase coarse grain parallelism, and to study the influence of the
dimension of system constraint load equations on the computational efficiency of the algorithm for real parallel implementation
using the Message Passing Interface (MPI). The equation formulation parallelism and linear system solution strategies which
are used to reduce communication overhead are addressed. Numerical results indicate that the algorithm is scalable, that significant
speed-up can be obtained, and that a quasi-logarithmic relation exists between time needed for a function call and numbers
of processors used. This result agrees well with theoretical performance predictions. Numerical comparisons with results obtained
from independently developed analysis codes have validated the correctness of the new hybrid parallelisable low order algorithm,
and demonstrated certain computational advantages. 相似文献
6.
7.
Seyed Ali Modarres Najafabadi József Kövecses Jorge Angeles 《Multibody System Dynamics》2008,20(2):163-176
This paper outlines a novel approach to the modeling and analysis of impact involving multibody systems. This approach is
based on an analysis of energy absorption and restitution during impact, using a decomposition of the kinetic energy, which
decouples the parts associated with the spaces of admissible and constrained motions of the underlying unilateral constraints.
Such a decomposition turns out to be useful in the analysis of energy dissipation during impact, and leads to a generalized
definition of the energetic coefficient of restitution, which targets particularly collisions in multibody systems. The applicability
of the approach reported is investigated by conducting an experimental study on a robotic testbed. It is shown that impact
between multibody systems is considerably affected not only by the local dynamics characteristics of the interacting bodies,
but also the configuration of the whole multibody system. The results reported here show that our decomposition can offer
a sound characterization of impact in several problems of multibody systems. 相似文献
8.
基于CORBA的多体系统动力学分布式仿真 总被引:1,自引:0,他引:1
基于多体系统动力学与运动学的机械系统计算机辅助分析(CAA)已成为该领域计算机辅助工程(CAE)的核心内容。该文分析了多体系统动力学方程建立及求解方法,结合CORBA技术、数值分析方法、OpeaGL图形技术,开发了基于CORBA的多体系统动力学分布式仿真系统,实现了分布式环境下的多体系统动力学的数值分析与仿真。 相似文献
9.
In this paper, a recursive formulation for generating the equations of motion of spatial mechanical systems is presented.
The rigid bodies are replaced by a dynamically equivalent constrained system of particles which avoids introducing any rotational
coordinates. For the open-chain system, the equations of motion are generated recursively along the serial chains using the
concepts of linear and angular momenta. Closed-chain systems are transformed to open-chain systems by cutting suitable kinematic
joints and introducing cut-joint constraints. The formulation is used to carry out the dynamic analysis of multi-link five-point
suspension. The results of the simulation demonstrate the generality and simplicity of the proposed dynamic formulation. 相似文献
10.
Due to the increase in speed and lightweight construction, modern robots vibrate significantly during motion. Thus, accurate mechanical modeling and detailed controller behavior is essential for accurate path planning and control design of robots. For the suppression of undesired vibrations detailed models are used to develop robust controllers. Least square identification methods require deep insight in the analytical equations and thus are not very suitable for identification of different highly nonlinear robot models. Recently, we presented our genetic parameter identification in Brussels, Ludwig and Gerstmayr (2011). It minimizes the error of measured and simulated quantities. Highly efficient models in the multibody system tool HOTINT lead to short computational times for various simulations with different parameters. The simulation models can easily be assembled by engineers without a detailed knowledge of the underlying multibody system. As drawback of genetic optimization, many sub-minima were detected. Many simulations were required for the determination of the global minimum. Our current approach was to extend our previous algorithm. Measured and simulated quantities are transformed into the frequency domain. In contrast to previous work, Ludwig and Gerstmayr (2013), amplitude spectra of measured and simulated quantities are smoothed prior to the L2-norm computation. The presented method is tested using small scale test problems as well as real robots. Smoothing in the frequency domain leads to a smaller number of simulations needed for obtaining higher accuracy. It turns out that the presented algorithm is more accurate and precise than a standard algorithm and reduces the computational cost. 相似文献