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RISWavelet-Based Methods to Partition Multibody Systems With Contact in Dynamic Simulation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The performance of physics simulation of multibody systems with contact can be enhanced by viewing the system as being composed of subsystems of bodies, and solving the dynamics of these subsystems in parallel. This approach ...
Nonsmooth Reduced Interface Models and Their Use in Co-Simulation of Mechanical Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In a co-simulation setup, the entire system is decomposed into a collection of individual subsystems that are interfaced together, with each subsystem being modeled and integrated separately according to its own requirements. ...
A New Representation for the Dynamics of Rigid Bodies
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The dynamics of a rigid body can be described from either a Lagrangian or an Eulerian perspective. The Lagrangian description is the most common in the literature on the rigid body dynamics. It follows individual particles ...
A Control-Oriented Framework for Direct Impulse-Based Rendering of Haptic Contacts
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In many haptic applications, producing a sharp feeling of impact is crucial for high-fidelity force feedback rendering of virtual objects (VOs). Although suitable for rendering collision-rich haptic interactions, impulse-based ...
Combined Effect of Sampling and Coulomb Friction on Haptic Systems Dynamics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Dissipation mechanisms and dissipative forces play a pivotal role in the operations and performance of human-machine interfaces and particularly in haptic systems. Dissipation is a very difficult phenomenon to model. Coulomb ...
Co-Simulation of Multibody Systems With Contact Using Reduced Interface Models
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Co-simulation techniques enable the coupling of physically diverse subsystems in an efficient and modular way. Communication between subsystems takes place at discrete-time instants and is limited to a given set of coupling ...
Dynamic Simulation and Collision Detection for Flexible Mechanical Systems With Contact Using the Floating Frame of Reference Formulation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Contact simulation is essential in modeling mechanical systems. The contact models require accurate geometric information, which is determined through collision detection methods. When the mechanical system includes flexible ...
Dynamic Simulation and Collision Detection for Flexible Mechanical Systems With Contact Using the Floating Frame of Reference Formulation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Contact simulation is essential in modeling mechanical systems. The contact models require accurate geometric information, which is determined through collision detection methods. When the mechanical system includes flexible ...
A Fast Algorithm for Contact Dynamics of Multibody Systems Using the Box Friction Model
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: One of the major challenges in dynamics of multibody systems is to handle redundant constraints appropriately. The box friction model is one of the existing approaches to formulate the contact and friction phenomenon as a ...
A Unit-Consistent Error Measure for Multibody Systems With Unilateral Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Modeling multibody systems subject to unilateral contacts and friction efficiently is challenging, and dynamic formulations based on the mixed linear complementarity problem (MLCP) are commonly used for this purpose. The ...