scholarly journals Haptics-Augmented Training Software for Undergraduate Engineering Mechanics

2012 ◽  
Author(s):  
Ernur Karadogan ◽  
Robert L. Williams ◽  
David R. Moore ◽  
Tian Luo
Keyword(s):  
Teaching And Learning ◽  
Current System ◽  
Student Attrition ◽  
Rigid Body Dynamics ◽  
Undergraduate Engineering ◽  
Free Body Diagram ◽  
Body Dynamics ◽  
Engineering Mechanics ◽  
Free Body ◽  
Mechanics Education

This paper presents the development efforts for a set of software activities and tutorials to augment teaching and learning in standard required undergraduate engineering mechanics courses. Using these software activities, students can change parameters, predict answers, compare outcomes, interact with animations, and feel the results. The overall system aims to increase teaching and learning effectiveness by rendering the concepts compelling, fun, and engaging. The problem with current examples and homework problems is that they are flat, static, boring, and non-engaging, which may lead to student attrition and a less than full grasp of fundamental principles. We implement integration of haptics technology with educational products to enable improvement in undergraduate engineering mechanics education. The current system is composed of a computer (laptop or desktop), a haptic device and a set of haptic modules. Currently, two modules, Interactive Free-Body Diagram (Box Motion) and Rigid Body Dynamics (Box Motion), were developed and several others are under development.

Non-Jamming Conditions in Multi-Contact Constrained Rigid-Body Dynamics

2005 ◽  
Author(s):  
Tong Liu ◽  
Michael Yu Wang
Keyword(s):  
Rigid Body ◽  
Rigid Body Dynamics ◽  
Applied Force ◽  
Necessary Condition ◽  
Sufficient Condition ◽  
Contact Points ◽  
Multiple Contacts ◽  
Unilateral Contacts ◽  
Body Dynamics ◽  
Free Body

In this paper, we study a rigid body system of one free body (e.g., workpiece) in contact with multiple fixed bodies (e.g., locators). The contacts are unilateral. The investigation is motivated for planning the task of insertion of a workpiece in a fixture. The key issue of the problem is to determine an applied force that can move the workpiece while maintaining all existing contacts with the locators. We first analyze the kinematics of the rigid body constrained by multiple unilateral contacts. The contact constraints are classified into two categories, the configuration constraints and kinematic constraints. We then find a sufficient condition for non-jamming among the multiple contacts in the constrained rigid-body dynamics. This condition is also a necessary condition when the number of contacts is no less than four. Moreover, a method to find the applied force on the workpiece that results in sliding on all contact points is presented, based on the sufficient condition for non-jamming. Numerical examples are presented and the results of the method are compared with the results of a quasistatic method.

Rigid Body Dynamics: A New Philosophy, Math and Pedagogy

2016 ◽  
Author(s):  
Thomas J. Impelluso
Keyword(s):  
Rigid Body ◽  
Conceptual Understanding ◽  
Student Attrition ◽  
Rigid Body Dynamics ◽  
Course Redesign ◽  
Body Dynamics ◽  
University College ◽  
Modern Mathematics

Bergen University College reconstructed its undergraduate Rigid Body Dynamics course. This was more than a typical course redesign. It was a philosophical reconstruction of both content and delivery based on modern mathematics and emerging visualization technologies. Assessment suggests that the reconstructed course articulates the underlying mathematics, motivates students by providing solutions to realistic problems in engineering, increases students’ conceptual understanding of dynamics and reduces student attrition in engineering.

scholarly journals Slipping–rolling transitions of a body with two contact points

2021 ◽  
Author(s):  
Mate Antali ◽  
Gabor Stepan
Keyword(s):  
Rigid Body ◽  
Contact Point ◽  
Static Friction ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Friction Forces ◽  
Contact Points ◽  
Body Dynamics ◽  
Coulomb Model ◽  
Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

Time-Accurate Simulation of Longitudinal Flight Mechanics with Control by CFD/RBD Coupling

2012 ◽  
Vol 226-228 ◽  
pp. 788-792 ◽  
Author(s):  
Dong Guo ◽  
Min Xu ◽  
Shi Lu Chen
Keyword(s):  
Computational Study ◽  
Rigid Motion ◽  
Rigid Body Dynamics ◽  
Flight Mechanics ◽  
Control Surface ◽  
Free Flight ◽  
Body Dynamics ◽  
Computational Fluid Dynamics Cfd ◽  
Coupled Solution ◽  
Surface Deflections

This paper describes a multidisciplinary computational study undertaken to compute the flight trajectories and simultaneously predict the unsteady free flight aerodynamics of aircraft in time domain using an advanced coupled computational fluid dynamics (CFD)/rigid body dynamics (RBD) technique. This incorporation of the flight mechanics equations and controller into the CFD solver loop and the treatment of the mesh, which must move with both the control surface deflections and the rigid motion of the aircraft, are illustrated. This work is a contribution to a wider effort towards the simulation of aeroelastic and flight stability in regions where nonlinear aerodynamics, and hence potentially CFD, can play a key role. Results demonstrating the coupled solution are presented.

New solutions of classical problems in rigid body dynamics

2015 ◽  
Vol 69 ◽  
pp. 40-44
Author(s):  
H.M. Yehia ◽  
E. Saleh ◽  
S.F. Megahid
Keyword(s):  
Rigid Body ◽  
Rigid Body Dynamics ◽  
Body Dynamics

scholarly journals In Silico Single-Molecule Manipulation of DNA with Rigid Body Dynamics

2014 ◽  
Vol 10 (2) ◽  
pp. e1003456 ◽  
Author(s):  
Pascal Carrivain ◽  
Maria Barbi ◽  
Jean-Marc Victor
Keyword(s):  
Rigid Body ◽  
Single Molecule ◽  
In Silico ◽  
Rigid Body Dynamics ◽  
Body Dynamics ◽  
Single Molecule Manipulation

Optimal Design of a 4-DOF SCARA Type Parallel Robot Using Dynamic Performance Indices and Angular Constraints

2012 ◽  
Vol 4 (3) ◽  
Author(s):  
Songtao Liu ◽  
Tian Huang ◽  
Jiangping Mei ◽  
Xueman Zhao ◽  
Panfeng Wang ◽  
...  
Keyword(s):  
Optimal Design ◽  
Dynamic Performance ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Rigid Body Dynamics ◽  
Performance Indices ◽  
Global Dynamic ◽  
Transmission Angle ◽  
Body Dynamics ◽  
Rigid Design

This paper deals with the optimal design of a 4-DOF SCARA type (three translations and one rotation) parallel robot using dynamic performance indices and angular constraints within and amongst limbs. The architecture of the robot is briefly addressed with emphasis on the mechanical realization of the articulated traveling plate for achieving a lightweight yet rigid design. On the basis of the kinematic singularity analysis, two types of transmission angle constraints are considered to ensure the kinematic performance. A simplified model of rigid body dynamics is then formulated, with which two global dynamic performance indices are proposed for minimization by taking into account both inertial and centrifugal/Coriolis effects. In addition, the servomotor specifications are estimated using the Extended Adept Cycle. The proposed approach has successfully been employed to develop a prototype machine.

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