Symbolic generation of the kinematics of multibody systems in EasyDyn: From MuPAD to Xcas/Giac

Verlinden, Olivier; Fekih, Lassaad Ben; Kouroussis, Georges

doi:10.1063/2.13013012

Cited by 36 publications

(22 citation statements)

References 3 publications

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“…Shoulder [1] Main arm [2] Forearm [3] Spindle [4] x y z x y z dynamic simulation of mechanical systems [10]. Initially created for teaching purposes, it was successfully used in several Master's and PhD theses and is available for free on the Internet.…”

Section: Robot Modellingmentioning

confidence: 99%

“…The latter assumes that the cutting force is proportional to the undeformed chip cross section. In DyStaMill, the popular model from Altintas Y. is used (10) to compute the cutting forces locally along the axial dF a , radial dF r and tangential dF t directions at the cutting edges from the undeformed chip thickness h [15]. The local cutting forces are then projected into the global reference frame on the basis of cutting angles (11).…”

Section: Forearmmentioning

confidence: 99%

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Robotic Machining Simulation using a Simplified Multibody Model

Huynh¹,

Verlinden²,

Rivière³

2017

DAAAM Proceedings

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Robotic machining is a promising manufacturing technology combining the agility of an industrial robot with the potential of a net shape process. Nowadays, robotic machining is springing up everywhere. A large number of companies attempt the conversion of their process using this technology, but without great success. Indeed, the material removal using a robot is very different from the conventional milling. Even though it is cheaper for a larger working envelope, the understanding of robotic process must be widened in order to overcome technological hurdles. Among them, the lack of stiffness at joints and the inherent low frequency structure are mainly accountable for the quality depletion of the machined workpiece. The simulation of an industrial process can be an interesting approach to better perceive the on-going phenomena during the machining phase. For this reason, a multibody modelling of a robot coupled with the simulation of milling was implemented. The robot was modelled as an anthropomorphic arm comprising 4 degrees of freedom and including the joint stiffness. Results were finally confronted with experimental data in terms of cutting forces, vibrations and roughness for which a good accordance could be observed.

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Section: Robot Modellingmentioning

confidence: 99%

Section: Forearmmentioning

confidence: 99%

Robotic Machining Simulation using a Simplified Multibody Model

Huynh¹,

Verlinden²,

Rivière³

2017

DAAAM Proceedings

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“…The dynamic interaction between the vehicle and the road is simulated using EasyDyn [8], a C++ library which allows for the solution of motion equations of multibody systems.…”

Section: Vehicle-road Interaction Modelmentioning

confidence: 99%

Ground Vibration Generated by the Passing of a Truck on a Speed Bump

Ducarne¹,

Ainalis²,

Kouroussis³

2017

Proceedings of the 6th International Conference on Computational Methods in Structural Dynamics and Earthquake Engineering (COM

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“…The rail unevenness is therefore included according to data collected by the railways operator. A C++ object-oriented program was developed, using the EasyDyn library [22]. An application based on either MuPad or Xcas platform generates symbolic kinematic expressions for the vehicle.…”

Section: Matec Web Of Conferencesmentioning

confidence: 99%

Numerical and experimental assessment of railway-induced ground vibrations generated by IC/IR trains in Brussels

Kouroussis

Verlinden

2015

MATEC Web of Conferences

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Abstract. Nowadays, the rising demand for new railway networks in Brussels is associated to discomfort and disturbance felt by the neighbourhood. This problem is a major concern of inhabitant surrounding rail infrastructure and causes part of the delay in the Brussels RER network construction. The present paper focuses on the vibratory nuisances generated by domestic trains in Brussels region. A compound experimental/numerical analysis is presented, based on recent investigations on line L161 between Brussels and Luxembourg. A specific site was chosen due to the presence of a singular rail surface defect which induces large ground vibrations when trains pass over. The effect of this defect is examined by means of free field ground vibrations measured during the passing of an AM96 unit, and completed by numerical results obtained from a numerical model. For this assessment, a fully 3D numerical prediction model is built, based on a two-step approach which combines multibody analysis of the vehicle and finite element analysis of the track and surrounding ground. Calculated high ground vibrations stem from singular rail surface defects. The prediction model is validated first and then used to quantify the gain brought by fixing of rail surfaces, with a reduction of local defects.

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Symbolic generation of the kinematics of multibody systems in EasyDyn: From MuPAD to Xcas/Giac

Abstract: In the EasyDyn multibody open source project, computer algebra has been used from the beginning to generate the expressions of velocities and accelerations of the bodies, by symbolic differentiation of their position.

Cited by 36 publications

References 3 publications

Robotic Machining Simulation using a Simplified Multibody Model

Robotic Machining Simulation using a Simplified Multibody Model

Ground Vibration Generated by the Passing of a Truck on a Speed Bump

Numerical and experimental assessment of railway-induced ground vibrations generated by IC/IR trains in Brussels

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