Mechanism & Robotics Simulation

 

 

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Our Dynawiz XMR  packages are designed to simulate the dynamics and control of ground vehicles and robotics. 

Dynawiz XMR Features:

Simulate rigid and flexible bodies dynamics
Reaction wheels/Flywheels on member bodies
External forces can be applied to any part of member bodies
Position and Directional markers on member bodies can be defined
Base body can be ground fixed or floating
Produce linearized model {A,B,C} matrices for stability and control analyses
Accept tree-configured systems and systems with mechanically closed loops
Enforce prescribed motions, gear constraints, contact and directional constraints
Inverse dynamics capability
Interact with discrete and analog controls
Multi-rate sample data control systems capability
Allow event based switching functions
Maximum 40 bodies and 10 reaction/momentum wheels
Formulation: Lagrangian
Solution methods: O(n) methods
Platforms: PC(W95, W98, NT)
Matlab .m scripts for plotting user selected output variables right after a simulation

 

Dynawiz XMR Packages  help you design your multibody mechanism or robotics simulation whether your simulation is a four bar linkages or a many-bodied motor vehicle with flexible components. The companion model editor BuildX interacts with you to define the mass property, constraints, discrete process parameters, input/output data definitions, etc. ....

Simulink Implementation

Dynawiz is an S-function in the Simulink workspace. Its input and output signals are defined by the model file created using Buildx. Given the model file, the simulation only requires that you map the Dynawiz output back to its input. User selected simulation data are stored away in a plot file for viewing after the simulation.

Software requirements: Matlab 5.3 or higher with Simulink

The Figure below is the Simulink program for a Dynawiz based arm model. The arm with 6 joints initially points vertically up, and is controlled to a final configuration through the servo action at each joint. As shown in the picture the controller is a program in the contrl.m block and it takes the angle and angular rate measurements to move each joint to its commanded position. Each joint torque is fed back to Dynawiz a a different sample rate. All these action takes place in a 1 g gravity field. The base of the platform is also shaken with a prescribed sinusoidal acceleration.

                                      wpe4.jpg (43404 bytes)

 

Click here to see an animation of the robot_arm simulation! Your browser  must have a VRML plugin to view VRML images. 

VRML plugin suggestion: install cortvrml.exe from www.parallelgraphics.com 

DOS Implementation

Dynawiz1.exe is an executable program that is run from a DOS command line. Its dynamics computation are defined by the model file prepared using Buildx. The control system is defined by a user defined control subroutine in the form of a dll file. 

Software requirements: Microsoft C++/ Matlab or Wgnuplot

3D Visualization and Animation

Our QX3D program helps you to visualize and animate the model that you built with BuildX and simulated using Dynawiz. For details, go to to the QX3D web page.

Download a Demo Package click here!!!

Information               

Write to support@concurrent-dynamics.com for further information.

 

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Last modified: February 25, 2009