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Welcome to the XMR
Package Download Page from
Concurrent
Dynamics International !
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Our XMR package
simulates multibodied mechanisms and robotics systems in Simulink. We handle the dynamics of
your simulation, so you
can design control systems and do analyses.
Please download the XMR
models package also. It has all the models listed below.
Each application file comes with a Demo license
and an instruction that explains how the model is built and how to run it.
The packages run with two other licenses, the Enterprise and
Select licenses. Their capabilities are explained in
the next table.
Buildx Edit Privileges
for Three License Types
|
License Type ==>> |
Enterprise |
Select |
Demo |
| Define mass, inertia, cm location |
yes |
yes |
no |
| Define Constraints: gear, position,
directional, contact |
yes |
yes |
yes! |
| Define Initial State: dcm,
angles, angular rates,
wheel rates |
yes |
yes |
yes |
| Define Position and
Directional Markers values |
yes |
yes |
yes! |
| Define External Forces and
Torque |
yes |
yes |
yes! |
| Define Orbit (XSV only): Initial Keplerian
coordinates |
yes |
yes |
no |
| Enable Gravity Gradient Force/Torque (XSV only) |
yes |
yes |
yes |
| Enable Prescribed Hinge Motion |
yes |
yes |
yes |
| Enable Flexible Body Dynamics |
yes |
yes |
yes |
| Multiple (N Body) Vehicle/Machine Simulation |
yes |
@ |
@ |
| Define Hinge Type |
yes |
yes* |
yes* |
| Define hinge axis,hinge
location,alignment |
yes |
yes |
no |
| Define Plot Data, Plant
Dynamics Input/Output Data |
yes |
yes |
yes |
| Add/Remove markers,forces,constraints |
yes |
yes |
no |
| Add/Remove bodies, wheels |
yes |
no |
no |
| Define Model Connectivity: parent body designation |
yes |
no |
no |
| PC locked |
yes |
yes |
no |
| For a fee |
yes |
yes |
no |
| Note: 1. Select
License lets you use the simulation package with assigned demo models in
the MODEL_LIST
2. Enterprise License has all the
Select License privileges and the privilege of modifying the connectivity
of the model.
! You can alter the attributes of these objects if they are already
defined in the given model.
@If the downloaded model is already a multiple vehicle/machine
model.
* You can toggle the hinge motion type from
dynamically determined hinge motion to prescribed hinge motion only. |
Click the Package to
download!
 | XMR Package contains Buildx.exe,
Dynawiz1.dll(XMR Order N) and QX3D.exe
|
Download and install XMR_MODELS.exe
to c:\xmr\ folder. When done, all the models listed below would have been deployed as subfolders to c:\xmr.
Within each application folder, click on get_basics to complete the application
files that are needed for executing the model editor(buildx.exe), dynawiz1.dll,
and the animator(qx3d). Please read the installation notes in the application
folders and the manuals that are in the c:\xmr folder.
Click 'view' below to see a static picture of the model, and 'animate' to see a short
animation. The images
and animations were generated using the QX3D program.
Important: Your browser must be VRML compatible in order to view the
model image or animation that are generated with QX3D. If not, install a VRML plugin(current Cortona VRML client: cortvrml.exe ) from www.parallelgraphics.com
and to view .wrl files.
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| Robot_arm1 |
view/animate |
This is a six link robot arm, moving from some initial configuration
to a commanded configuration. Each joint is a 1 dof revolute joint. |
| Stanford_arm |
view/animate |
This is a six link arm, where all hinges are 1 dof
rotational joints except for the third hinge which is a 1 dof
translational joint. The arm is in a zero gravity condition. Initially,
the joint(2) is at a 90 deg position with a -5 deg/sec angular rate. When
the simulation starts, a 1 Hz force pulse is sent to the translational
joint for 20 seconds. The simulation runs for 30 seconds. No feedback
control is employed |
| Bouncing |
view/animate |
A ball falls from 10 ft along z-axis, with a 0.5
ft/s velocity in the y-axis. The ball is 1 ft in diameter, rotates
initially with [30 30 30] deg/s with its cm offset at [.05 .05 .05] ft
from the ball center. The ball bounces in the +y direction with lower
height with each bounce. |
| Three_bar |
view/animate |
A three bar link is simulated with the tip of bar 3 anchored
initially. This anchor constraint is removed at 10 seconds into the
simulation. The motion of the three bar link is driven by the gravity
force. |
| Pendulum |
view/animate |
A pendulum simulation. |
| Inv_pendulum |
view/animate |
An inverted pendulum is mounted on a wheeled cart. Gravity acts on it. Force to the cart is the only control available to
prevent the pendulum from falling down. The pendulum is initially tilted
10 degrees away from vertical. A linear controller with a controlled
angular bias is used to keep the pendulum upright and move to a commanded
position. |
| Engine_4cyl |
view/animate |
A four cylinder 4-stroke internal combustion engine. A motor
starts the engine. Each cylinder has a simplified combustion profile with a maximum force that can be set in
the Simulink program.The model also has frictional forces along the
pistons, the rods and the shaft. (Animation file takes a while to
display.) |
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Hardware and Software Requirements
| PC/600MHz and faster |
| Matlab 5.3 and up/ Simulink |
Contact Information
Write to support@concurrent-dynamics.com
regarding Buildx.exe, Dynawiz1.dll or QX3D.exe.
You are welcome to see our other sites
[Home][Intro][Spacecraft][Robotics][QX3D]
Thank you for
visiting...
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