Two implementations of IRK integrators for real-time multibody dynamics

2006 ◽  
Vol 65 (12) ◽  
pp. 2091-2111 ◽  
Author(s):  
D. Dopico ◽  
U. Lugris ◽  
M. Gonzalez ◽  
J. Cuadrado
Keyword(s):  
Real Time ◽  
Multibody Dynamics

Real Time Simulation for High Fidelity Multibody Dynamics and Mechatronic Systems

2014 ◽  
Author(s):  
William Prescott
Keyword(s):  
Real Time ◽  
Multibody Dynamics ◽  
Large Scale ◽  
State Of The Art ◽  
High Fidelity ◽  
Implicit Integration ◽  
Mechatronic Systems ◽  
Vehicle Simulation ◽  
Current State ◽  
Time Simulation

This paper will investigate the use of large scale multibody dynamics (MBD) models for real-time vehicle simulation. Current state of the art in the real-time solution of vehicle uses 15 degree of freedom models, but there is a need for higher-fidelity systems. To increase the fidelity of models uses this paper will propose the use of the following techniques: implicit integration, parallel processing and co-simulation in a real-time environment.

Real-Time Explicit Flexible Multibody Dynamics Solver With Application to Virtual-Reality Based E-Learning

2011 ◽  
Author(s):  
Tamer M. Wasfy ◽  
Hatem M. Wasfy ◽  
Jeanne M. Peters
Keyword(s):  
Virtual Reality ◽  
Finite Elements ◽  
Rigid Body ◽  
Real Time ◽  
Multibody Dynamics ◽  
Flexible Multibody Dynamics ◽  
Rigid Bodies ◽  
Flexible Bodies ◽  
Joint Contact ◽  
E Learning

A flexible multibody dynamics explicit time-integration parallel solver suitable for real-time virtual-reality applications is presented. The hierarchical “scene-graph” representation of the model used for display and user-interaction with the model is also used in the solver. The multibody system includes rigid bodies, flexible bodies, joints, frictional contact constraints, actuators and prescribed motion constraints. The rigid bodies rotational equations of motion are written in a body-fixed frame with the total rigid body rotation matrix updated each time step using incremental rotations. Flexible bodies are modeled using total-Lagrangian spring, truss, beam and hexahedral finite elements. The motion of the elements is referred to a global inertial Cartesian reference frame. A penalty technique is used to impose joint/contact constraints. An asperity-based friction model is used to model joint/contact friction. A bounding box binary tree contact search algorithm is used to allow fast contact detection between finite elements and other elements as well as general triangular/quadrilateral rigid-body surfaces. The real-time solver is used to model virtual-reality based experiments (including mass-spring systems, pendulums, pulley-rope-mass systems, billiards, air-hockey and a solar system) for a freshman university physics e-learning course.

Geometric Stiffness for Real-time Constrained Multibody Dynamics

2017 ◽  
Vol 36 (2) ◽  
pp. 235-246 ◽  
Author(s):  
Sheldon Andrews ◽  
Marek Teichmann ◽  
Paul G. Kry
Keyword(s):  
Real Time ◽  
Multibody Dynamics ◽  
Geometric Stiffness ◽  
Constrained Multibody Dynamics

scholarly journals Topological vs Global Penalty Formulations for Real-Time Flexible Multibody Dynamics

2007 ◽  
Vol 1 (3) ◽  
pp. 422-433
Author(s):  
Javier CUADRADO ◽  
Urbano LUGRÍS ◽  
Daniel DOPICO ◽  
Manuel GONZÁLEZ
Keyword(s):  
Real Time ◽  
Multibody Dynamics ◽  
Flexible Multibody Dynamics ◽  
Flexible Multibody

Robotran-YARP Interface: A Framework for Real-Time Controller Developments Based on Multibody Dynamics Simulations

2016 ◽  
pp. 147-164 ◽  
Author(s):  
Timothée Habra ◽  
Houman Dallali ◽  
Alberto Cardellino ◽  
Lorenzo Natale ◽  
Nikolaos Tsagarakis ◽  
...  
Keyword(s):  
Real Time ◽  
Multibody Dynamics ◽  
Dynamics Simulations

Performance of Developed Driving Simulator With Full Vehicle Model of Multibody Dynamics

2001 ◽  
Author(s):  
Taichi Shiiba ◽  
Yoshihiro Suda
Keyword(s):  
Real Time ◽  
Multibody Dynamics ◽  
Degrees Of Freedom ◽  
Driving Simulator ◽  
Vehicle Model ◽  
Full Vehicle ◽  
Real Time Analysis ◽  
Motion System ◽  
Time Calculation ◽  
6 Degrees Of Freedom

Abstract In this paper, the authors propose to apply the full vehicle model of multibody dynamics to driving simulator with 6 degrees of freedom motion system. By this proposal, the characteristics of driving simulator become very similar to the actual automobiles. It becomes possible to predict the performance of vehicle dynamics and the riding comfort by feeling test without prototyping automobile. To realize real-time calculation that is necessary for driving simulator, the authors proposed approximated real-time analysis method. By this method, real-time vehicle analysis of 2 ms step time of numerical integration is achieved with 91 degrees of freedom vehicle model.

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