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recursive dynamics simulator(ReDySim):A multibody dynamics solver

Theoretical & Applied Mechanics Letters 2012年第6期2卷 71-76页

作者： Suril V.Shah Paramanand V.Nandihal Subir K.Saha Department of Mechanical Engineering McGill University QC H3A0C3Canada Department of Mechanical Engineering Indian Institute of Technology New Delhi 110016India

recursive formulations have significantly helped in achieving real-time computations and model-based control laws. The recursive dynamics simulator （ReDySim） is a MATLAB-based recur- sive solver for dynamic analysis of multibody systems. ReDySim delves upon the decoupled natural orthogonal complement approach originally developed for serial-chain manipulators. In comparison to the commercially available software, dynamic analyses in ReDySim can be performed without creating solid model. The input parameters are specified in MATLAB environment. ReDySim has capability to incorporate any control algorithm with utmost ease. In this work, the capabilities of ReDySim for solving open-loop and closed-loop systems are shown by examples of robotic gripper, KUKA KR5 industrial manipulator and four-bar mechanism. ReDySim can be downloaded for free from http：//*** and can be used almost instantly.

关键词： ReDySim multibody systems dynamic modeling recursive dynamics DeNOC

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A recursive formulation for open-loop gyroelastic multibody dynamics

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Astrodynamics 2022年第3期6卷 301-316页

作者： Shiyuan Jia Yinghong Jia School of Automation Beijing University of Posts and TelecommunicationsBeijing 100876China School of Astronautics Beihang UniversityBeijing 100191China

In this paper,a general recursive formulation of equations of motion is presented for open-loop gyroelastic multibody *** gyroelastic multibody system is defined as a multibody system with gyroelastic bodies,whereas a gyroelastic body is composed of a flexible body with a cluster of double-gimbal variable-speed control moment gyroscopes(DGVs).First,the motion equations of a single gyroelastic body are derived using Kane’s *** influence of DGVs on the static moments,modal momentum coefficients,moments of inertia,modal angular momentum coefficients,and modal mass matrix for a flexible body are *** interactions between the DGVs and the flexibilities of the structures are *** recursive kinematic relations for a multibody system with different connections are then obtained from a flexible-flexible connection using a transformation *** different connections contain a flexible-flexible connection,which represents a flexible body connecting to another flexible body,flexible-rigid and rigid-rigid *** recursive gyroelastic multibody dynamics are obtained by analyzing the kinematics of a multibody system and the dynamics of a single gyroelastic *** simulations are presented to verify the accuracy and efficiency of the proposed approach by comparing it with a direct formulation based on Kane’s method.

关键词： recursive dynamics gyroelastic multibody system double-gimbal variable-speed control moment gyroscopes(DGVs) transformation matrix

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