Modelica.Mechanics.MultiBody.UsersGuide

Library MultiBody is a free Modelica package providing 3-dimensional mechanical components to model in a convenient way mechanical systems, such as robots, mechanisms, vehicles. This package contains the User's Guide for the MultiBody library.

1. Tutorial gives an introduction into the most important aspects of the library.
2. Literature provides references that have been used to design and implement this library.
3. Contact provides information about the author of the library as well as acknowledgments.

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Package Content

Name	Description
Tutorial	Tutorial
Literature	Literature
Contact	Contact

Modelica.Mechanics.MultiBody.UsersGuide.Literature

• Technical details of this library are described in the paper:

  Otter M., Elmqvist H., and Mattsson S.E.:

  The New Modelica MultiBody Library. Modelica 2003 Conference, Linköping, Sweden, pp. 311-330, Nov. 3-4, 2003. Download from: https://www.modelica.org/events/Conference2003/papers/h37_Otter_multibody.pdf

• The method how to describe drive trains with 1-dimensional mechanics and to mount them on 3-dimensional components without neglecting dynamical effects is described in:

  Schweiger C., and Otter M.:

  Modelling 3-dim. Mechanical Effects of 1-dim. Powertrains. Modelica 2003 Conference, Linköping, Sweden, pp. 149-158, Nov. 3-4, 2003. Download from: https://www.modelica.org/events/Conference2003/papers/h06_Schweiger_powertrains_v5.pdf

• The method to solve a certain class of kinematic loops analytically is based on:

  Woernle C.:

  Ein systematisches Verfahren zur Aufstellung der geometrischen Schliessbedingungen in kinematischen Schleifen mit Anwendung bei der Rückwärtstransformation für Industrieroboter.
  Fortschritt-Berichte VDI, Reihe 18, Nr. 59, Düsseldorf: VDI-Verlag 1988, ISBN 3-18-145918-6.
   

  Hiller M., and Woernle C.:

  A Systematic Approach for Solving the Inverse Kinematic Problem of Robot Manipulators.
  Proceedings 7th World Congress Th. Mach. Mech., Sevilla 1987.

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Modelica.Mechanics.MultiBody.UsersGuide.Contact

Library officers

Jakub Tobolar and Martin Otter
Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)
Institut für Systemdynamik und Regelungstechnik (DLR-SR)
Forschungszentrum Oberpfaffenhofen
D-82234 Wessling
Germany

Acknowledgements

• The central idea to handle a certain class of overdetermined, consistent set of differential algebraic equations (i.e., there are more equations than unknowns) with symbolic transformation algorithms was developed together with Hilding Elmqvist and Sven Erik Mattsson, previously at Dassault Systèmes AB, Lund, Sweden. The MultiBody library is heavily relying on this feature which is a prerequisite for a truly "object-oriented" multi-body systems library, where components can be connected together in any meaningful way.
• The Examples.Loops.EngineV6 demo of a six cylinder V6 engine with 6 planar loops and 1 degree of freedom is from Hilding Elmqvist and Sven Erik Mattsson.
• Modelica.Mechanics.MultiBody.Forces.LineForceWithMass is based on model "RelativeDistance" from the Modelica VehicleDynamics library of Johan Andreasson from Royal Institute of Technology, Stockholm, Sweden.
• The 1-dim. components (Parts.Rotor1D, Parts.BevelGear1D, Mounting1D) and Joints.GearConstraints are from Christian Schweiger.
• The design of this library is based on work carried out in the EU RealSim project (Real-time Simulation for Design of Multi-physics Systems) funded by the European Commission within the Information Societies Technology (IST) programme under contract number IST 1999-11979.

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