By Edward J. Haug (auth.), Werner Schiehlen (eds.)
The German examine Council (DFG) determined 1987 to set up a national 5 12 months learn venture dedicated to dynamics of multibody platforms. during this venture universities and examine facilities cooperated with the aim to improve a normal pur pose multibody process software program package deal. this idea presents the chance to take advantage of a modular constitution of the software program, i.e. diverse multibody formalisms will be mixed with assorted simulation programmes through standardized interfaces. For the DFG undertaking the database RSYST used to be selected utilizing general FORTRAN seventy seven and an item orientated multibody process datamodel used to be outlined. The venture integrated • study at the basics of the strategy of multibody structures, • strategies for brand spanking new formalisms of dynamical research, • improvement of effective numerical algorithms and • consciousness of a strong software program package deal of multibody structures. those objectives required an interdisciplinary cooperation among arithmetic, compu ter technological know-how, mechanics, and keep watch over concept. ix X After a rigorous reviewing strategy the subsequent study associations participated within the undertaking (under the accountability of best scientists): Technical college of Aachen (Prof. G. Sedlacek) Technical college of Darmstadt (Prof. P. Hagedorn) college of Duisburg M. Hiller) (Prof.
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Additional info for Advanced Multibody System Dynamics: Simulation and Software Tools
Operations to determine the number of degrees of freedom, to compute the position vector and the rotation matrix between frames, and to compute the relative velocity and the relative angular velocity between frames. The methods have to be redefined in all subclasses. 24 3 Data Model for Multibody Systems In this chapter the object-oriented data model for multibody systems is explained shortly. In Appendix A the data model is rigorously defined by class descriptions. g. by dynamic simulation, linearization, or parameter optimization.
Between two coordinate systems, one joint, several force elements, and several sensors are allowed. class: member name class description of component joint joint joint element on interact object force setof (force) force elements on interact object sensor setof (sensor) sensor elements on interact object A joint connects a coordinate system on a first part ( = aframe) with a coordinate system on a second part ( = bframe). The motion between both coordinate systems is no longer independent. Specific classes for joints, see Figure 8, must be derived from superclass joint which has no components.
The part reference frame is referenced by a blank string. Class frame is used as a superclass for the definition of different classes to describe coordinate systems. Class frame has only the component rframe in which the name of the reference frame is stored. Therefore, the position of an object of class frame is identical to its reference frame . g. the position vector and the rotation matrix from the reference frame to the frame. Depending on the implementation, these operations must be redefined in the subclasses of class frame.
Advanced Multibody System Dynamics: Simulation and Software Tools by Edward J. Haug (auth.), Werner Schiehlen (eds.)