The simulation of multibody dynamics with physical constraints has been significant in the areas of science, engineering, computer graphics and robotics. There is a growing need for fast, accurate simulation tools in robotics applications such as manipulation planning and model-predictive control. However, the underlying dynamics model of multibody systems with contacts and friction is fundamen...

This paper presents a new method for symbolically solving large sets of algebraically coupled equations as they are frequently encountered in the formulation of mathematical models of physical systems in object{ oriented modeling. The method, called \relaxing," enables the modeler to exploit the special matrix structure of the type of system under study by simply placing the keyword relax at ap...

One of the outstanding problems in the numerical simulation of mechanical systems is the development of eecient methods for dealing with highly oscilla-tory systems. These types of systems arise for example in vehicle simulation in modeling the suspension system or tires, in models for contact and impact, in exible body simulation from vibrations in the structural model, and in molecular dynami...

A solution method suitable for the multi-threaded simulation of mechanical systems represented in Cartesian coordinates is proposed and analyzed. In a state-space framework for the solution of the Differential Algebraic Equations (DAE) of Multibody Dynamics, the position/velocity stabilization and the acceleration computation are based on iterative solvers applied to equivalent reduced problems...

The assembly and operation of the International Space Station (ISS) require extensive testing and engineering analysis to verify that the Space Station system of systems would work together without any adverse interactions. Since the dynamic behavior of an entire Space Station cannot be tested on earth, math models of the Space Station structures and mechanical systems have to be built and inte...

The study of N-dimensional rigid-body motion is a well-developed field of mechanics. Some of the key results for describing the kinematics of these bodies come from the Cayley transform and the Cayley-transform kinematic relationship. Additionally, several forms of the equations of motion for these bodies have been developed by various derivations. By using Cayley kinematics, the motion of gene...

For products comprised of multiple parts such as machine tools, new transportation systems and wind turbines, Mitsubishi Heavy Industries, Ltd. (MHI) is striving to improve their performance and robustness through prediction of their performance by applying Multibody Dynamics (MBD) to analyze the vibration characteristics of structural components and the load transfers in the machine components...

In this paper, the problem of the evaluation of the uncertainties that originate in the complex design process of a new system is analyzed, paying particular attention to multibody mechanical systems. To this end, the Wiener-Shannon’s axioms are extended to non-probabilistic events and a theory of information for non-repetitive events is used as a measure of the reliability of data. The selecti...

In this study, modeling and LQR control of a reaction wheel inverted pendulum system is described. The model created by using 3D CAD platform exported to Simscape Multibody. multibody linearized derive state-space representation. A (Linear-quadratic regulator) controller designed applied for balance the pendulum. results show that deriving representation from an easy effective way dynamic syste...

This paper presents a parameter identification technique for multibody dynamic systems, based on a nonlinear least–square optimization procedure. The procedure identifies unknown parameters in the differential–algebraic multibody system model by matching the acceleration time history of a point of interest with given data. Derivative information for the optimization process is obtained through ...