Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS最新文献

Motion Capture Based Model Identification of the Humanoid Robot REEM-C Using Static Poses 基于动作捕捉的仿人机器人REEM-C静态姿态模型识别

Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS Pub Date : 1900-01-01 DOI: 10.3311/eccomasmbd2021-233

Felix Aller, M. Harant, K. Mombaur

{"title":"Motion Capture Based Model Identification of the Humanoid Robot REEM-C Using Static Poses","authors":"Felix Aller, M. Harant, K. Mombaur","doi":"10.3311/eccomasmbd2021-233","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-233","url":null,"abstract":"In this paper, we describe an approach for the model identiﬁcation of the humanoid robot REEM-C. In contrast to previous work, we do not attempt to determine all dynamic parameters simultaneously. It is not clear whether such approaches can lead to redundancies in the optimization problem. We deliberately restrict ourselves to a very precise determination of the center-of-mass (COM) and the mass of the individual rigid bodies. As a result, we do not use Persistent Exciting (PE) trajectories and perform the identiﬁcation based on motion capture and force plate measurements of 172 static poses. This results in more accurate experimental data and allows a more precise update of static parameters by means of an optimization problem. The inertial parameters are not updated and have to be adjusted using classical approaches, but based on the already improved static parameters. We report the performance of optimization by comparing the distance of the ground-projected-center-of-mass (GCOM) against the measured GCOM from the model information of the original and optimized model for each static pose. The improvement of the optimized model is furthermore reﬂected by means of a recorded dynamic squat motion and by analyzing the residual torques and forces acting at the ﬂoating base of the robot. identiﬁcation.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124386920","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Simulation of the Dynamics of the 3-CRS Parallel Robot with a Bond Graph Approach 基于键合图法的3-CRS并联机器人动力学仿真

Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS Pub Date : 1900-01-01 DOI: 10.3311/eccomasmbd2021-192

B. Boudon, Pierre Malafosse, Louis Guigon, R. Margetts, C. Bouzgarrou, T. Dang

引用次数: 0

The Tippedisk: A Minimal Model For Friction-Induced Inversion 尖顶盘:摩擦诱导反演的最小模型

Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS Pub Date : 1900-01-01 DOI: 10.3311/eccomasmbd2021-113

Simon Sailer, S. Eugster, R. Leine

引用次数: 0

First Steps in Data Based Constitutive Modelling of Inelastic Effects in Composite Cables Using Preisach Hysteresis Operators 基于数据的复合索非弹性效应本构模型的初步研究

Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS Pub Date : 1900-01-01 DOI: 10.3311/eccomasmbd2021-156

Davide Manfredo, Vanessa Dörlich, J. Linn, M. Arnold

引用次数: 0

Assessment of variable step-size integration of multibody systems 多体系统变步长集成的评估

Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS Pub Date : 1900-01-01 DOI: 10.3311/eccomasmbd2021-172

M. Ruggiu, F. González

{"title":"Assessment of variable step-size integration of multibody systems","authors":"M. Ruggiu, F. González","doi":"10.3311/eccomasmbd2021-172","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-172","url":null,"abstract":"When performing the numerical integration of multibody systems (MBS) dynamics, the analyst can choose from a wide variety of methods and implementations. Selecting the most appropriate option for a particular application is not a straightforward task; as a consequence, several benchmark examples have been formulated by the MBS research community with the intent to assess the accuracy and performance of different solution methods when applied to certain kinds of mechanical problems. This paper introduces a variation of the slider-crank mechanism, already employed as benchmark problem in the MBS literature, intended to evaluate the performance of variable-step MBS algorithms. Three cases, featuring singular configurations and variable-frequency external actions, were defined. The example is used to illustrate some necessary elements in the definition of a benchmark problem and in the process of comparing different solution methods, as well as difficulties that can arise during this task. The proposed example was used to evaluate the behaviour of a variable-step index-3 augmented Lagrangian algorithm with velocity and acceleration projections, as well as other well-known solution methods.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129134899","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Non-Linear Beam Formulation with NURBS Interpolation for the Simulation of Sliding Contacts 滑动接触仿真的NURBS插值非线性光束公式

Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS Pub Date : 1900-01-01 DOI: 10.3311/eccomasmbd2021-181

P. Wasmer, P. Betsch

引用次数: 0

A Heuristic Sequencing Method for Time Optimal Tracking of Open and Closed Paths 一种启发式排序的开闭路径时间最优跟踪方法

Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS Pub Date : 1900-01-01 DOI: 10.3311/eccomasmbd2021-138

Christian Zauner, H. Gattringer, A. Müller, Matthias Jörgl

引用次数: 0

Coupled Multibody Model Of Industrial Robot With Milling Simulator For Trajectory Compensation 基于铣削模拟器的工业机器人多体耦合轨迹补偿模型

Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS Pub Date : 1900-01-01 DOI: 10.3311/eccomasmbd2021-139

Valentin Dambly, H. Huynh, O. Verlinden, E. Rivière-Lorphèvre

{"title":"Coupled Multibody Model Of Industrial Robot With Milling Simulator For Trajectory Compensation","authors":"Valentin Dambly, H. Huynh, O. Verlinden, E. Rivière-Lorphèvre","doi":"10.3311/eccomasmbd2021-139","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-139","url":null,"abstract":"Robotic machining is a fast-growing technology in the ﬁeld of mechanical manufacturing. Indeed, it is generally accepted that for the same working space, a fully equipped robotic machining cell can cost 30 to 50 % less than a conventional machine tool. However, inaccuracies resulting either from vibrations or deﬂections occur while the robot is subjected to cutting forces, inherent to its ﬂexible structure. As an order of magnitude, the stiffness at the tool-tip is about 1 N / µ m for industrial robots against more than 50 N / µ m for CNC machine tools. The ﬂexibility source has been investi-gated and appears to be caused by the robot articulations in a proportion of 80% while the remaining ﬂexibility issues from the structural elasticity. In order to improve the accuracy of robotic machining operations, several approaches have been carried out such as the study of stable cutting conditions and the online/ofﬂine compensation of the tool trajectory. Two aspects of the operation must be modeled, on the one hand the model of the cutting machine, being an industrial robot in robotic machining, and on the other hand, the machining model including the resulting geometry of the workpiece. A coupled model is then proposed with the multi-body model of the robot subjected to machining forces. The multi-body model includes the ﬂexibility induced by the structure and the articulations. In order to compensate the deviations, a solution is proposed where the trajectory is discretized in nodes with a compensation taking the system dynamics into account by successive simulations of the operation. The algorithm involves two steps, ﬁrstly it aims to detect critical locations of the path and add or reposition nodes to reduce the deviation and secondly an optimization layer modiﬁes nodes positions and velocities for a ﬁner reduction. The method is deployed for three systems of increasing complexity for a face milling operation, showing a machining error reduction.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125242254","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Influence of Generalized Coordinates on System Dynamics 广义坐标对系统动力学的影响

Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS Pub Date : 1900-01-01 DOI: 10.3311/eccomasmbd2021-112

Altay Zhakatayev, Yuri V. Rogovchenko, M. Pätzold

{"title":"Influence of Generalized Coordinates on System Dynamics","authors":"Altay Zhakatayev, Yuri V. Rogovchenko, M. Pätzold","doi":"10.3311/eccomasmbd2021-112","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-112","url":null,"abstract":"We investigate the effect of the choice of a set of generalized coordinates (GCs) on the simulation of the behavior of the dynamical system using the single-link spherical pendulum as an example. Specifically, we focus our attention on numerical errors and the simulation time necessary to simulate system dynamics. The Lagrangian method is applied to obtain the equations of motion. The generalized Euler angles are used as GCs. The GCs depend on the direction of the axes along which they are defined. Therefore, by parameterizing the directions of these two axes, different sets of GCs with the corresponding system of nonlinear differential equations are obtained. For a spherical pendulum, we demonstrate that the optimal sets of GCs leading to the minimum simulation time are orthogonal sets. However, contrary to our expectations, orthogonal sets do not result in the minimum simulation error. Additionally, the intrinsic generalized Euler angles lead to faster simulations than the extrinsic ones. Therefore, different choices of GCs are not equivalent from a numerical point of view and further research is needed to develop a strategy for selecting an optimal set of GCs.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129943148","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Model Order Reduction for Elastic Multibody Systems with Fast Rotating Flexible Bodies 具有快速旋转柔体的弹性多体系统的模型阶数约简

Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS Pub Date : 1900-01-01 DOI: 10.3311/eccomasmbd2021-121

Lennart Frie, O. Dieterich, P. Eberhard

{"title":"Model Order Reduction for Elastic Multibody Systems with Fast Rotating Flexible Bodies","authors":"Lennart Frie, O. Dieterich, P. Eberhard","doi":"10.3311/eccomasmbd2021-121","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-121","url":null,"abstract":"The dynamical behavior of Elastic Multibody Systems (EMBS) is often analyzed using virtual prototypes described by high-dimensional systems of differential equations. Model Order Reduction (MOR) is a key step to permit efﬁcient system evaluations by approximating the full system with a reduced order surrogate model. It is one challenge in MOR of EMBS, to describe the dynamics induced through the coupling of bodies in the reduced system. In this contribution, a workﬂow for the reduction of EMBS with fast rotating bodies is presented. The rotation causes a change of dynamical behavior due to inertia forces and, therefore, cannot be neglected. In the scope of this work a linear description of rotating bodies with constant angular velocity is given. Different projection-based MOR techniques are compared and applied to an industrial model of a helicopter with rotating rotor. For this purpose, a short introduction on modeling of EMBS and MOR is given. Substructured reduction is then contrasted to the reduction of the coupled system for modal reduction techniques, moment matching based on Krylov subspaces, and Proper Orthogonal Decomposition. The approximation errors of the reduced systems are compared in frequency domain. It is shown that rotation-dependent terms are essential to describe the dynamic behavior of the system correctly. Reduced models with low approximation errors and large speed-up are obtained with substructured Proper Orthogonal Decomposition and outperform the standard techniques modal truncation and Craig-Bampton reduction.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115266783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0