CONTACT PROCESSING IN THE SIMULATION OF CLAWAR资料.pdfVIP

CONTACT PROCESSING IN THE SIMULATION OF CLAWAR 1 2 1 1 JUHASZ , KONYEV , RUSIN , SCHMUCKER 1Department Virtual Engineering, Fraunhofer Institute for Factory Operation and Automation, Sandtorstrasse 22, 39106 Magdeburg, Germany 2Institute for Electrical Energy Systems, University of Magdeburg, P.B. 4120, 39106 Magdeburg, Germany Contact processing, including collision detection and collision response, is one of the most difficult, but most important areas in simulation of the multi-body systems. However, the most widespread multi-body simulators, like Matlab/SimMechanics or Modelica/Dymola, don’t support the contact processing. Other multi-body simulators, like Vortex or ODE, support the contact processing, but are more limited in the rest of the functionality. This paper presents the implementation of the contact processing in both Matlab/SimMechanics and Modelica/Dymola and the comparison of the implemented functionality with Vortex. It was performed through an example of contact tasks for a six-legged robot. 1. Introduction In mechanical systems certain machine elements usually interact with each other. When a mathematical model of such system is designed, the interactions between the parts can be divided into two following categories: -Mechanical joints are used for defining permanent constraints of motion. -Mechanical contacts are almost instantaneous, typically short-time interactions caused by non-penetration contact forces arising between the bodies in the model. The forces occur when the surfaces