A Cosimulation T-T Procedure Gluing Subsystems in Multibody Dynamics Simulations

Rustin, Ce´dric; Verlinden, Olivier; Bombled, Q.

doi:10.1115/detc2009-86617

Cited by 5 publications

(4 citation statements)

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“…Depending on the kind of exchanged variables and corresponding coupling equations,m echanical systems can be divided by force-force coupling, force-displacementc oupling,o r displacement-displacement coupling (Schmoll 2015;Schweizer and Lu 2014b). Wang et al (2003) declare kinematic and force information respectively as Xand Tvectors,thus replacing the above terms by the synonymicallyu sed T-Tm ethod, T-Xm ethod,a nd X-X method (see also Rustin et al (2009)). Figure 2.17 illustrates these different approaches foralinear two-mass oscillator.…”

Section: Partitioning Of Mechanical Systemsmentioning

confidence: 99%

Cooperative and Multirate Simulation: Analysis, Classification and New Hierarchical Approaches

Hafner¹

2022

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In dieser Dissertation werden hierarchische Co-Simulationsmethoden vorgestellt und hinsichtlich Genauigkeit, Fehlerakkumulation und Stabilität untersucht. Co-Simulation bezeichnet die Kopplung vonz weio der mehr Simulationen, die sich in dem verwendeten Simulationstool, Lösungsalgorithmus oder zumindest der Solverschrittweite unterscheiden. Methoden dieser Arthaben sich mittlerweile als unentbehrliches Instrument zur gesamtheitlichen Abbildung komplexerSysteme aus unterschiedlichen Anwendungsgebieten etabliert. Der vielseitige Ursprung und das breite Spektrum an wissenschaftlichen Lösungsansätzen für Problemstellungen dieser Arthaben dazu geführt, dass einige Begriffe unterschiedlich aufgefasst oder äquivalente Methoden verschieden bezeichnet werden. Dieser Umstand gab den Anstoß für die Zusammenführung, Klärung und Vereinheitlichung des Vokabulars in diesem Forschungsbereich zu Beginn dieser Arbeit. Anschließend folgt ein Überblicküber gängige Multirate-und Co-Simulationsmethoden, begonnen bei Verfahren für gewöhnliche Differentialgleichungen über gekoppelte differentialalgebraische Gleichungssysteme bis hin zur Zusammenführung starkunterschiedlicher Ansätze, wie etwad iskret und kontinuierlich dargestellten Te ilsystemen. Zudem wurde eine empirische Studie mit über fünfzig Te ilnehmenden in Zusammenarbeit mit Kollegen nationaler und internationaler Forschungsgruppen ausgearbeitet und durchgeführt,deren Ergebnisse gängige Standards,H erausforderungen und Forschungsbedarf im Bereich der Co-Simulation aufzeigen. Ob ihrer Vielfalt können Multirate-und Co-Simulationsmethoden anhand unterschiedlicher Gesichtspunkte strukturiertwerden. Diese werden gleichzeitig mit der Klassifikation ausgewählter Literatur ebenfalls in dieser Arbeit präsentiert. Ein Nebenprodukt letzterer stellt unter anderem das Netzwerka nA utorInnen der betrachteten Publikationen dar,i nd em deutlich wird, dass einige voni hnen für internationale Zusammenarbeit offen sind,w ährend andere ihre Forschungstätigkeit bevorzugt innerhalb der eigenen Institution vornehmen. Das Hauptaugenmerkdieser Dissertation liegt auf der Entwicklung und Untersuchung hierarchischer Co-Simulationsmethoden. Diese bezeichnen Co-Simulationen, die unter sich weitere Co-Simulationen, gegebenenfalls auf mehreren Ebenen, koordinieren. Fehlerschätzungen zeigen, dass durch die Einführung weiterer Levels keine zusätzlichen Fehler hinzukommen und Nullstabilität, gesonderta uf jeder Ebene,a nalog zu herkömmlicherC o-iii Simulation untersuchtw erden kann. Benchmark-Tests anhand gekoppelter Dahlquist-Gleichungen zeigen, dass numerische Stabilität sogar erhöht werden kann, sofernSysteme,die untereinander in höherem Ausmaß vonW erten der jeweilig anderen abhängen, die Möglichkeit haben, gesonderta nw eiteren Kommunikationszeitpunkten Daten auszutauschen. Dadurch kann die Genauigkeit erhöht und qualitatives Verhalten erhalten werden, ohne die gesamte Co-Simulation zu verlangsamen. Insgesamt stellt hierarchische Co-Simulation einen innovativen Ansatz dar,der vielversprechende Ergebnisse h...

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Section: Partitioning Of Mechanical Systemsmentioning

confidence: 99%

Cooperative and Multirate Simulation: Analysis, Classification and New Hierarchical Approaches

Hafner¹

2022

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“…Gluing strategies are known to the dynamics simulation community for a while (see [10], [11]) and seem to be state of the art ( [12], [13]). As long as computers and algorithms are far from the ability to simulate comprehensive models of real-world situations on a detailed physical basis like an FEM-approach in real-time, gluing strategies provide a proper way to simulate different parts of a complex simulation with different levels of detail.…”

Section: B a Customized Gluing Strategy For Fast Integrated Rigid Bomentioning

confidence: 99%

Developing Virtual Testbeds for mobile robotic applications in the woods and on the moon

Roßmann

Jung²,

Rast³

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Simulation in the context of engineering often focuses on very special details of global systems. Robot designers usually begin with the analysis of new actuators and joint designs. This corresponds to a "bottom-up"-strategy in the development of simulation models. For classical fields of application of robotics, e.g. in production plants with a well defined environment this is the approved method, because it allows very detailed insights into the analyzed subsystems. On the other hand, unpredictable effects of the interaction of multiple subsystems may easily be overseen. In particular, nontechnical environments like in moon exploration tasks or in a biological environment like in forestry applications are hard to describe in an analytical way to integrate them into an analytical simulation model. This is why this paper presents the idea and some practical aspects of the development of "Virtual Testbeds". In a Virtual Testbed, the entire system is simulated as a whole in Virtual Reality -not only small subsystems of a global system. According to the requirements different subsystems are simulated with different levels of detail. In contrast to the classical "bottom-up"-strategy this can be seen as a "topdown"-approach. Therefore the employment of a multi-body dynamics system as a platform for the development of versatile simulation and testing environments is proposed. Using the examples of the evaluation and testing of an extraterrestrial walking exploration robot design and the development of a method for self-localization in forestry, the idea is further deepened. As a special field of attention the integration of a method of soil simulation as a particular requirement of a Virtual Testbed for walking exploration robots is presented.

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“…Therefore, there is a strong need for approaches that allow the simulation of exoskeleton behavior and human motion in a distributed but coordinated manner. In the domain of distributed simulation, the "gluing perspective" has demonstrated efficacy in establishing cohesive interactions between individual simulations of multibody systems [21][22][23]. To extend this to simulating exoskeleton behavior separate from the human model, an approach is needed that connects human motion to exoskeleton simulation and incorporates the physical interaction between the exoskeleton and the human body.…”

Section: Introductionmentioning

confidence: 99%

A Novel Approach to Simulating Realistic Exoskeleton Behavior in Response to Human Motion

Yao,

Mir Latifi,

Molz

et al. 2024

Robotics

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Simulation models are a valuable tool for exoskeleton development, especially for system optimization and evaluation. It allows an assessment of the performance and effectiveness of exoskeletons even at an early stage of their development without physical realization. Due to the closed physical interaction between the exoskeleton and the user, accurate modeling of the human–exoskeleton interaction in defined scenarios is essential for exoskeleton simulations. This paper presents a novel approach to simulate exoskeleton motion in response to human motion and the interaction forces at the physical interfaces between the human and the exoskeleton. Our approach uses a multibody model of a shoulder exoskeleton in MATLAB R2021b and imports human motion via virtual markers from a digital human model to simulate human–exoskeleton interaction. To validate the human-motion-based approach, simulated exoskeleton motion and interaction forces are compared with experimental data from a previous lab study. The results demonstrate the feasibility of our approach to simulate human–exoskeleton interaction based on human motion. In addition, the approach is used to optimize the support profile of an exoskeleton, indicating its potential to assist exoskeleton development prior to physical prototyping.

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A Cosimulation T-T Procedure Gluing Subsystems in Multibody Dynamics Simulations

Cited by 5 publications

References 0 publications

Cooperative and Multirate Simulation: Analysis, Classification and New Hierarchical Approaches

Cooperative and Multirate Simulation: Analysis, Classification and New Hierarchical Approaches

Developing Virtual Testbeds for mobile robotic applications in the woods and on the moon

A Novel Approach to Simulating Realistic Exoskeleton Behavior in Response to Human Motion

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