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Welcome to Concurrent Dynamics International We are pleased to introduce Dynawiz XMR. It's a multibody dynamics simulation program for mechanisms and robotics design and analysis. Dynawiz XMR Features:
Dynawiz XMR Packages help you design your multibody mechanism or robotics simulation effortlessly whether your simulation is a four bar linkages or a many-bodied motor vehicle with flexible components. The companion BuildX program is an editor to help you to organize all the model data such as mass property, constraints, discrete process parameters, input/output data definitions, etc. .... 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 maps the motion signals coming out of Dynawiz into control signals that go back into Dynawiz. A set of user selected simulation data are stored away in a plot file for viewing during and 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.
Click here to see an animation of the robot_arm simulation! Your browser (internet explorer or Netscape) must be VRML compatible. If not, you can make it so by installing a VRML plugin from Parallel Graphics, i.e. download and install Cortona VRML Client 4.2 (cortvrml.exe, 1.58MB). DOS Implementation Here, Dynawiz 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. As you run Dynawiz, it would save the user selected output data for later viewing using gnuplot or Matlab programs. Software requirements: Microsoft C++/ Matlab or Wgnuplot MultiVehicle Capability This capability allows you to simulate multiple mechanisms concurrently in the Simulink workspace. For example, if you are simulating three robot arms or objects in a work space, then you will insert 3 S-functions in the simulink workspace designated as Dynawiz1, Dynawiz2, and Dynawiz3 representing them. These objects can run independently or interact with each other. For instance, in the latter case, you may be calculating the distance between two objects and then use that information to adjust the controls in either or both of the objects. This feature is useful for obstacle avoidance analysis where the obstacle is also a mobile mechanism. You may use it also for studying the performance of multiple arms executing a coordinated task. Etc... 3D Visualization and Animation Try our QX3D program 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 Visit our Introducing Dynawiz page for a brief description of how to use Dynawiz and the companion model building program, BuildX. Write to xmr@concurrent-dynamics.com for further information.
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