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Real-time flexible multibody simulation with Global Modal Parameterization

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Abstract

Many applications require fast and even real-time multibody simulations. Until recently, strongly simplified models were used in order to reach real-time constraints. A novel system-level model reduction technique, namely Global Modal Parameterization (GMP), enables the reduction of a complex mechanism, incorporating flexibility. This technique groups all computationally demanding tasks in a preprocessing phase, which allows the actual simulation to run at real-time. The main strength of the algorithm lies in the fact that the original system of differential-algebraic equations is transformed into a system of ordinary differential equations, which can easily be integrated with explicit methods. This work shortly reviews the GMP-method for systems undergoing 3D motion with multiple rigid DOFs. Furthermore the framework for hard real-time simulation with GMP is discussed. The novelty is the description of a simulation method for a GMP model with an explicit time integrator, which is deployable on hard real-time systems. One of the method’s advantages is the a priori known computational load for each timestep, allowing hard real-time simulations. The method is benchmarked for a flexible spatial slider-crank mechanism, modeled in a commercial flexible multibody package. This is the first application of the GMP-approach on an original floating-frame-of-reference component mode synthesis model undergoing highly dynamical motion.

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Notes

  1. Nonholonomic constraints are not considered in this work.

  2. A gradient/Jacobian of an entity A with respect to a vector b will be denoted as A ,b .

  3. All computations are performed on an Intel Duo Core T8300 with Windows 7 64-bit.

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Acknowledgements

The research of Frank Naets and Gert Heirman is funded by a Ph.D. grant of the Institute for the Promotion of Innovation through Science and Technology in Flanders (IWT-Vlaanderen). The European Commission is gratefully acknowledged for the support of the Marie Curie ITN “VECOM” FP7-213543, from which Tommaso Tamarozzi holds an “Initial Training Grant” (http://www.vecom.org/).

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Authors and Affiliations

  1. Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, 3001, Heverlee (Leuven), Belgium

    Frank Naets, Tommaso Tamarozzi, Gert H. K. Heirman & Wim Desmet

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  1. Frank Naets
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  2. Tommaso Tamarozzi
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  3. Gert H. K. Heirman
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  4. Wim Desmet
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Correspondence to Frank Naets.

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Naets, F., Tamarozzi, T., Heirman, G.H.K. et al. Real-time flexible multibody simulation with Global Modal Parameterization. Multibody Syst Dyn 27, 267–284 (2012). https://doi.org/10.1007/s11044-011-9298-z

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  • DOI: https://doi.org/10.1007/s11044-011-9298-z

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