
Accession Number : ADA298975
Title : Application of Symbolical Kinematics to RealTime Vehicle Dynamics.
Descriptive Note : Final technical rept. 1 Aug 9431 Aug 95,
Corporate Author : GERHARDMERCATOR UNIV DUISBURG (GERMANY) FACHGEBIET MECHATRONIK
Personal Author(s) : Kecskemethy, I. A. ; Krupp, Thorsten
PDF Url : ADA298975
Report Date : 31 AUG 1995
Pagination or Media Count : 129
Abstract : A computer oriented integrated approach for the automatic generation of symbolical expressions for the position, velocity and acceleration problems of spatial, multiple loop multibody systems is developed. All processing steps, from the topological analysis of the interconnection structure to the final production of executable statements in a standard programming language, such as "C,', are integrated into one single single piece of code, written in Mathematica. Special subsystems, such as planar or spherical mechanism parts, subsystems featuring closed form, i.e., analytic solutions, and subsystems which have to be solved iteratively, are recognized and processed accordingly. These tasks involve, among others, the generation of minimal cycle sets, the detection of invariant transformation groups in loops, and the recognition of recursive solution flows in multiple loop mechanisms. All processing steps are fully operational and produce the desired expressions from a minimal input comprising the system adjacency matrix, the list of variable joint parameters, and the desired set of input variables. A SOLVAScompatible interface insures the applicability of the package in the setting of vehicle dynamics by its integration in the libraries developed at the System Simulation & Technical Division Group at U.S. Army TARDEC. The procedures and the code are illustrated by several examples.
Descriptors : *KINEMATICS, *VEHICLES, *N BODY PROBLEM, SIMULATION, SETTING(ADJUSTING), REAL TIME, PARAMETERS, ACCELERATION, CYCLES, TRANSFORMATIONS(MATHEMATICS), TOPOLOGY, MATHEMATICAL ANALYSIS, RECURSIVE FUNCTIONS, STANDARDIZATION, GERMANY, COMPUTER APPLICATIONS, INVARIANCE, CLOSED LOOP SYSTEMS, MATRIX THEORY.
Subject Categories : Mechanics
Distribution Statement : APPROVED FOR PUBLIC RELEASE