FULLY SYMBOLIC GENERATION OF COMPLEX MULTIBODY MODELS^*

Abstract

^*Communicated by J. McPhee

ACKNOWLEDGMENT

This text presents research results of the Belgian program on Interuniversity Poles of Attraction initiated by the Belgian State, Prime Minister's Office, Science Policy Programming. The scientific responsibility is assumed by its authors.

Notes

^*Communicated by J. McPhee

*Flexible beams will also be considered.

*For instance, between a “flying” body and the base.

*This represents any body i belonging to the kinematic chain linking the base to body j.

^†That is, if the body is real. Fictitious bodies have, of course, no dynamical properties.

*By length of the kinematic chain, we mean the maximum number of d.o.f. acting from the inertial body to a terminal body in the tree structure.

*Indeed, ROBOTRAN eliminate all the superfluous expressions and equations.

^†Such as time integration, modal analysis, optimization, etc.

^‡A C function, a Simulink block (as a “dll” file), etc.

*Of course, this can be checked only numerically.

*Superscript (i) denotes the ith column of the corresponding matrix.

*Along rotational degrees of freedom.

*An additional function devoted to the wheel/ground specific model is, of course, supplied and called within the symbolic model.

^†Once again, under the form of a single function (C, Matlab, etc.).

*This restrictive hypothesis can be circumvented in many practical situations through the use of intermediate massless bodies and fictitious locked joints.

*Using an implicit Runge–Kutta scheme.

^†Expressed into a frame rigidly attached to the rotating hub.