Symbolic multibody models for digital-twin applications

IF 2.6 2区 工程技术 Q2 MECHANICS
Nicolas Docquier, Krzysztof Lipinski, Olivier Lantsoght, Sebastien Timmermans, Paul Fisette
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引用次数: 0

Abstract

Symbolic generation of multibody systems equations of motion appeared in the 1980s. In addition to their computational advantage over their numerical counterparts, symbolic models can be very easily and straightforwardly interfaced with a wide range of software environments and hardware devices. These two features place this approach in a pole position to participate and intervene in the design of digital twins for systems such as vehicles, manipulators, walking robots or haptic devices.

In this context, the first goal of this paper is to highlight the interest of symbolically generated multibody models – at the root of the ROBOTRAN program – in the form of a standalone set of equations calculating the dynamic model of multibody systems, for use as a computational component within a Digital-Twin-type process. The next goal is to embed realistic and complex multibody models within processes or devices whose functioning requires a synchronized real-time computation – or analysis – of their motion.

An implementation (i) on specific hardware and (ii) on two extremely opposite but revealing applications (namely a railway vehicle and a digital piano) are presented to highlight the usefulness of symbolic models for the development of current and future multibody-based digital twins.

Abstract Image

数字双轴应用的符号多体模型
多体系统运动方程的符号生成出现于 20 世纪 80 年代。与数字模型相比,符号模型除了在计算方面具有优势外,还可以非常简单直接地与各种软件环境和硬件设备连接。在此背景下,本文的第一个目标是强调符号生成的多体模型(ROBOTRAN 程序的根基)的重要性,该模型是计算多体系统动态模型的独立方程组,可用作数字孪生程序中的计算组件。下一个目标是将现实而复杂的多体模型嵌入到需要对其运动进行同步实时计算或分析的过程或设备中。本文介绍了(i)在特定硬件上的实施和(ii)在两个截然相反但却很有启发性的应用(即铁路车辆和数码钢琴)上的实施,以突出符号模型在当前和未来基于多体的数字孪生系统开发中的实用性。
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来源期刊
CiteScore
6.00
自引率
17.60%
发文量
46
审稿时长
12 months
期刊介绍: The journal Multibody System Dynamics treats theoretical and computational methods in rigid and flexible multibody systems, their application, and the experimental procedures used to validate the theoretical foundations. The research reported addresses computational and experimental aspects and their application to classical and emerging fields in science and technology. Both development and application aspects of multibody dynamics are relevant, in particular in the fields of control, optimization, real-time simulation, parallel computation, workspace and path planning, reliability, and durability. The journal also publishes articles covering application fields such as vehicle dynamics, aerospace technology, robotics and mechatronics, machine dynamics, crashworthiness, biomechanics, artificial intelligence, and system identification if they involve or contribute to the field of Multibody System Dynamics.
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