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DEVELOPING A NUMERICAL SIMULATION SOFTWARE FOR 3D MULTIBODY SYSTEMS BASED ON A UNIFIED COMPUTATIONAL MODELING TECHNIQUE

机译:基于统一计算建模技术的3D多体系统数值仿真软件的开发

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This article represents the features and capabilities of a newly developed application namely MASS (Mechanisms Analysis and Simulation Software) and the formulation and techniques therein. MASS is a general C++ application program whose main task is to construct and solve the governing algebraic differential motion equations of 3D multibody systems automatically in matrix forms complying with the computational algorithms required for numerical simulation. Newton-Raphson and SVD methods have been used for kinematical assembling and producing consistent initial conditions. Adaptive time-step Runge-Kutta-Fehlberg numerical integration methods might be used for forward dynamics problems. The governing equations perfectly describe the kinematics and dynamics of multibody systems within which 3D kinematical joints and collisions between rigid bodies might be taken into consideration. The unified computational technique for mathematical modeling of kinematical joints is the most important concept on top of which MASS has been implemented. It has occurred due to the existence of thirteen basic kinematical constraint equations. Each kinematical joint might be defined by a set of algebraic equations being selected from the mentioned basic equations. The unified dynamic models for collisions and impulsive loads have been also achieved using the mentioned technique. Simulation results obtained from MASS have been compared with that of the corresponding software of Working Model ver. 6 and a discussion about the coincidences and differences has been exposed.
机译:本文介绍了新开发的应用程序,即MASS(力学分析和仿真软件)及其功能和技巧,其功能和特点。 MASS是通用的C ++应用程序,其主要任务是按照符合数值模拟所需的计算算法的矩阵形式自动构造和求解3D多体系统的控制代数微分运动方程。牛顿-拉夫森(Newton-Raphson)和SVD方法已用于运动学组装和产生一致的初始条件。自适应时间步长Runge-Kutta-Fehlberg数值积分方法可用于前向动力学问题。控制方程完美地描述了多体系统的运动学和动力学,在其中可以考虑3D运动关节和刚体之间的碰撞。运动关节数学建模的统一计算技术是最重要的概念,在此基础上已经实现了MASS。它的出现是由于存在13个基本的运动约束方程式。每个运动学关节可以由从所提到的基本方程式中选择的一组代数方程式来定义。使用上述技术还可以实现碰撞和脉冲载荷的统一动态模型。从MASS获得的仿真结果已与Working Model ver。的相应软件进行了比较。 6和有关巧合和差异的讨论已经公开。

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