FULLY SYMBOLIC GENERATION OF COMPLEX MULTIBODY MODELS<sup>*</sup>

Paul, Friedemann; Postiau, T; Sass, Laurent; Samin, Jean-Claude

doi:10.1081/sme-120001477

Cited by 21 publications

(7 citation statements)

References 19 publications

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“…An inverse dynamic model of the system, for given input velocity 12 , is obtained by applying the Newton-Euler equations to the nutating body 3 and then to the carrier body 2, so that the total reaction forces and torques transmitted to the frame due to inertial excitation are determined Fisette et al, 2002;Callegari et al, 2013).…”

Section: Dynamicsmentioning

confidence: 99%

Kinematics, efficiency and dynamic balancing of a planetary gear train based on nutating bevel gears

Fanghella

Bruzzone

Ellero³

et al. 2015

Mechanics Based Design of Structures and Machines

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The article discusses the main functional characteristics of a planetary gear train based on nutating bevel gears. System geometry, design parameters, kinematics and efficiency expressions in term of such parameters are presented. Then, an analytical model of its dynamics is developed and explicit balancing conditions to eliminate the effect of internal inertial forces are obtained. Analytical results regarding dynamics and balancing criteria are verified through multibody simulations on a sample geometry. A discussion about how to determine balancing geometries is finally carried out

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Section: Dynamicsmentioning

confidence: 99%

Kinematics, efficiency and dynamic balancing of a planetary gear train based on nutating bevel gears

Fanghella

Bruzzone

Ellero³

et al. 2015

Mechanics Based Design of Structures and Machines

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“…The corresponding dynamic equations are obtained from a Newton-Euler formalism and a Newton-Raphson iterative algorithm (Fisette et al, 2002): this algorithm provides the vector Q of internal interaction torques and forces applied at the joints for any configuration as a function of ðq; _ q; € qÞ, q being the vector of the human body generalized coordinates. The vector Qðq; _ q; € qÞ can be directly obtained from the equations of motion for the eight body segments:…”

Section: Dynamic Model Of the Transient Effortsmentioning

confidence: 99%

Determination of joint efforts in the human body during maximum ramp pushing efforts

Raison

Gaudez

Bozec

et al. 2007

Journal of Biomechanics

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“…Using a symbolic rather than numeric implementation of dynamics models for robots is highly beneficial regarding the computational efficiency [9]. Some aspects of the models can only be obtained in a useful way via symbolic derivation, such as the identification model [12].…”

Section: Introduction and State Of The Artmentioning

confidence: 99%

A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots

Schappler

Job

Ortmaier

2021

Communications in Computer and Information Science

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A new Maple toolchain for generating rigid body dynamics in symbolic form for robot manipulators is presented. The peculiarity compared to existing tools lies in the framework of Bash scripts controlling the full workflow of the toolchain with a high degree of automation. The optimized Matlab code generated by Maple is automatically converted to function files with proper documentation and input assertions. This renders manual post-processing of the results unnecessarily. The focus of the paper is on the implemented unit-testing framework according to the method of test-driven development. By providing the test framework together with the generated code in a stand-alone version, a good test coverage and a good software quality can be achieved. The results of the open source project provide a basis for dynamics simulations for robot dimensional synthesis or in model-based control of robot manipulators in research or in industrial context. The general software approach can be applied to other fields where theoretical models are derived with Maple.

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FULLY SYMBOLIC GENERATION OF COMPLEX MULTIBODY MODELS^*

Cited by 21 publications

References 19 publications

Kinematics, efficiency and dynamic balancing of a planetary gear train based on nutating bevel gears

Kinematics, efficiency and dynamic balancing of a planetary gear train based on nutating bevel gears

Determination of joint efforts in the human body during maximum ramp pushing efforts

A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots

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FULLY SYMBOLIC GENERATION OF COMPLEX MULTIBODY MODELS*

Cited by 21 publications

References 19 publications

Kinematics, efficiency and dynamic balancing of a planetary gear train based on nutating bevel gears

Kinematics, efficiency and dynamic balancing of a planetary gear train based on nutating bevel gears

Determination of joint efforts in the human body during maximum ramp pushing efforts

A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots

Contact Info

Product

Resources

About

FULLY SYMBOLIC GENERATION OF COMPLEX MULTIBODY MODELS^*