A Sparsity-Oriented Approach to the Dynamic Analysis and Design of Mechanical Systems—Part 1

Orlandea, N.; Chace, Milton A.; Calahan, D. A.

doi:10.1115/1.3439312

Cited by 228 publications

(61 citation statements)

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“…Computational efficiency of multibody system dynamic simulations has been receiving increasing attention from researchers since seventies, mainly from the robotics field [1], [2], [3]. Further developments in this field can be seen in the multitude of efficient O(n) (n -number of bodies) recursive sequential algorithms for analysis of tree-like topology rigid body dynamics.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Analysis of a Lightweight Robotic Manipulator in Joint Space

Woliński¹,

Malczyk²

2015

Archive of Mechanical Engineering

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The primary importance of the paper is the application of the efficient formulation for the simulation of open-loop lightweight robotic manipulator. The framework employed in the paper makes use of the spatial operator algebra and the associated equations are expressed in joint space. This compact representation of the manipulator dynamics makes it possible to solve the robot forward and inverse dynamics problems in a recursive and fast manner. In the current form, the presented algorithm can be applied for the dynamics simulation of an open-loop chain system possessing any number of joints. Specifically, the formulation has been successfully applied for the analysis of the 7DOF KUKA LWR robot. Results from a number of test cases for the robot demonstrate the verification of the calculations.

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Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Analysis of a Lightweight Robotic Manipulator in Joint Space

Woliński¹,

Malczyk²

2015

Archive of Mechanical Engineering

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“…RELATED WORK ADAMS (Automatic Dynamic Analysis of Mechanical Systems) is a software system that consists of a number of integrated programs that aid an engineer in performing three-dimensional kinematic and dynamic analysis of mechanical systems [1], [2] ADAMS generates equations of motion for multi-body systems using augmented formulation. The user can define any multi-body system composed of several rigid and flexible bodies that are interconnected by joints.…”

Section: Introductionmentioning

confidence: 99%

Crane Modeling and Simulation in Offshore Structure Building Industry

Ku¹,

Ha²,

Roh³

2014

IJCTE

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Abstract-To increase the lifting capacity and minimize the cost and time for building a ship and offshore structure, block lifting with multi-cranes becomes more and more danger. In this paper, therefore, dynamic response analysis of the multi-cranes is performed for block lifting operation. By this simulation, one can confirm the dynamic effects, such as dynamic motion and load, to prevent fatal accidents during the multi-crane operation. The crane system consists of several bodies. These bodies are connected with various types of joints and wire rope. To carry out the dynamic simulation, therefore, the crane system is modeled as a multi-body system. There are several types of crane, such as a goliath crane, jib crane, and floating crane, etc. Among them, the floating crane is operated on the sea water. Therefore the hydrostatic force and linearized hydrodynamic force are considered as the external forces acting on the floating crane. Using the dynamics simulation program developed in this paper, a dynamic response simulation of several cases of block lifting with multi-cranes are carried out, and the simulation results are validated by comparing them with the measured data from the shipyard. Moreover, the simulation results can be applied to the structural analysis for evaluate the dynamic effects on the block. Index Terms-Dynamic simulation, modeling and simulation, multi-body system, large scale manufacturing, structural analysis.

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“…Sparse matrix techniques are also used in multibody dynamics simulators, e.g. [16]. This is also not the first paper to advocate the use of an LTDL factorization on the JSIM, since this has already been proposed by Saha [20] (who calls it a UDUT factorization).…”

Section: Inertia-matrix Algorithms Work By Formulating and Solving Anmentioning

confidence: 99%

Efficient Factorization of the Joint-Space Inertia Matrix for Branched Kinematic Trees

Featherstone

2005

The International Journal of Robotics Research

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This paper describes new factorization algorithms that exploit branch-induced sparsity in the joint-space inertia matrix (JSIM) of a kinematic tree. It also presents new formulas that show how the cost of calculating and factorizing the JSIM vary with the topology of the tree. These formulas show that the cost of calculating forward dynamics for a branched tree can be considerably less than the cost for an unbranched tree of the same size. Branches can also reduce complexity; and some examples are presented of kinematic trees for which the complexity of calculating and factorizing the JSIM are less than O(n 2 ) and O(n 3 ), respectively. Finally, a cost comparison is made between an O(n) algorithm and an O(n 3 ) algorithm, the latter incorporating one of the new factorization algorithms. It is shown that the O(n 3 ) algorithm is only 15% slower than the O(n) algorithm when applied to a 30-DoF humanoid, but is 2.6 times slower when applied to an equivalent unbranched chain. This is due mainly to the O(n 3 ) algorithm running about 2.2 times faster on the humanoid than on the chain.

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A Sparsity-Oriented Approach to the Dynamic Analysis and Design of Mechanical Systems—Part 1

Cited by 228 publications

References 0 publications

Dynamic Modeling and Analysis of a Lightweight Robotic Manipulator in Joint Space

Dynamic Modeling and Analysis of a Lightweight Robotic Manipulator in Joint Space

Crane Modeling and Simulation in Offshore Structure Building Industry

Efficient Factorization of the Joint-Space Inertia Matrix for Branched Kinematic Trees

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