Thomas Kenji Uchida

Real-time Dynamic Simulation of Constrained Multibody Systems

A Symbolic Computational Perspective

• Broschiertes Buch

Produktbeschreibung

Multibody dynamics is the branch of physics concerned with the motion of interconnected rigid or flexible bodies and the forces that are responsible for this motion. One of the fundamental objectives in this field is the automatic generation of the equations governing the motion of a multibody system, given a description of its components and the interconnections between them. This book focuses on the development of a framework for the automatic generation of systems of kinematic and dynamic equations that are suitable for real-time applications. In particular, the efficient simulation of constrained multibody systems is addressed. The proposed approach is applied to the simulation of several mechanical systems, including six-bar mechanisms, parallel robots, and two vehicle suspensions, one of which is implemented in a hardware- and operator-in-the-loop driving simulator. The approach developed herein is particularly suitable for situations requiring very efficient simulations ofmultibody systems whose parameters remain constant, such as the plant models in model-predictive control strategies and the vehicle models in driving simulators.

Produktdetails

• Verlag: VDM Verlag Dr. Müller
• Seitenzahl: 196
• Englisch
• ISBN-13: 9783639362251
• ISBN-10: 363936225X
• Artikelnr.: 33701954

Autorenporträt

Thomas Kenji Uchida received a PhD in Systems Design Engineering from the University of Waterloo, Canada, in 2011. His main area of research is multibody dynamics, with applications to robotics, vehicle dynamics, and real-time simulation. Dr. Uchida also holds an ARCT Performers diploma in piano from the Royal Conservatory of Music, Canada.