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

Modelling and Simulation of Guide-Wire Interaction With Vasculature Using Constrained Multibody Dynamics

2013 ◽  
Author(s):  
Pramod Chembrammel ◽  
Habib Mohd Younus ◽  
Thenkurussi Kesavadas
Keyword(s):  
Real Time ◽  
Multibody Dynamics ◽  
Haptic Feedback ◽  
Guide Wire ◽  
Three Dimensional ◽  
Surface Interactions ◽  
Unilateral Constraints ◽  
Constrained Problem ◽  
Hardware Interface ◽  
Constrained Multibody Dynamics

In this paper, we describe the mathematical modeling of guide wire dynamics for an intravascular surgical procedure as a problem of constrained multibody dynamics involving surface to surface interactions. The goal of this project is to develop a physics based real time simulator with haptics for the above procedure. The guide-wire is segmented into a finite number of massless and inextensible rods attached with spheres on either sides thus reducing the problem to that of the dynamics of rolling motion of spheres on the re-parameterized surface of vasculature under the action of unilateral constraints with associated Lagrange multipliers. The constrained problem is solved as LCP using Lemke’s method and stabilized using Baumgarte constrain stabilization. The parameters for the constrained violation stabilization are learned real-time using a method based on adaptive control theory. Simulations were performed on geometries representing different sections of vasculature. The results show that this method can be implemented on a full-scale three dimensional vasculature with a hardware interface for haptic feedback.

Multibody Dynamics Since 1990

1996 ◽  
Vol 49 (10S) ◽  
pp. S35-S40 ◽  
Author(s):  
R. L. Huston
Keyword(s):  
Multibody Dynamics ◽  
State Of The Art ◽  
The State ◽  
Technical Literature ◽  
Research Opportunities ◽  
Constrained Multibody Dynamics ◽  
Major Increase

This is a review of multibody dynamics research reported in the technical literature since 1990. It is an update of an earlier review appearing in 1991. In the five to six years since the writing of that first review, it is found that the literature has greatly expanded, attesting to a major increase in research efforts, with the greatest increase occurring in flexible and constrained multibody dynamics. In this review, the state-of-the-art of the research is briefly outlined and a discussion about unresolved issues and research opportunities is presented.

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.

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 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.

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