Vehicle and Train Simulation Review and Update (Project 1/147)

Size: px
Start display at page:

Download "Vehicle and Train Simulation Review and Update (Project 1/147)"

Transcription

1 Vehicle and Train Simulation Review and Update (Project 1/147) premier rail Dr Colin Cole, Dr Fujie Xia, Mr Vijay Ignatius, CQU

2 Review of Project 1

3 Deliverables Achieved Product Group Knowledge Base New Simulation Models Embedded Real Time Models Web Resource Publications Generic Data of selected Australian Rollingstock Non-Linear DOF66 Code Simulink Wagon Model (Part Complete) Inverse Wagon Model Health Card Inverse Model On-Line wagon Models for VAMPIRE On-Line PSD Track Spectra Simulation Utilities Generic Wagon Simulation Code Simulink Wagon Model (Part Complete) Research Reports Published Papers Software Project Outputs

4 Publications Year Software Publications 1 Rail CRC workshop Papers 1 Journal Paper 5 Rail CRC workshop Papers 3 Conference Papers 1 Journal Paper 12 Wagon System Models for VAMPIRE WRKIN21 :wheel-rail Kinematical contact simulation PSD2TRACKIRR: Track data generator from standard track Power Spectrum Density Data C66WAGON: 66DoF wagon model simulation package

5 Post Graduate Work Vijay Ignatius Embedded Wagon Modelling and Simulation Sita Kuppa Fuzzy Modelling of Wagon Dynamics.

6 Inverse Wagon Models a t a z yaw z roll x a z a y a z z y pitch a z a y L/V roll y t z Estimating wheel unloading and L/V from wagon body accelerations

7 Health Card Laboratory Validation 4DOF Inverse Model

8 66 DOF C++ Wagon Model

9 Website Infrastructure and Resources Downloadable Rail Vehicle Simulation Model (Wagon C66) Rail vehicle models suitable for use with Vampire Power Spectrum Data (PSD) of track irregularities of various classes Downloadable Converter to generate track irregularity files from Power Spectrum data

10

11 UPDATE??? Continuation: Project 147

12 Approved Proposal Validate and package the C++ based 66DOF Model as an Object Oriented vehicle simulation model Produce tests cases of new capabilities of interest: Comprehensive train/wagon/track simulation. New approaches to Friction Modelling New Contact Patch Models

13 Train system Pantograph/Catenary system Locomotive system Wagon system Track system Multibody System Body Joint Force Force element Rigid body Wheel set Link joint Cut joint Gravity wheel rail contact force External force Spring Damper Bump stop Friction Object Oriented and Expandable

14 Output Product Output from the project will be a new wagon simulation model in object orientated structure Occupy the Mid-Market Place Between Traditional Turnkey Products VAMPIRE and NUCARS Fully Flexible Graphical Products Adams Rail and SimPac Continuously Developing Product in Longer Term (Open Source or CRC Member Open Source)

15 a L/V t a z yaw z roll x a z a y a z y pitch z roll y a z a y C66 T/W/T t z New Models Added Wagon Simulations Rail CRC Prj 82, 148, 150 Comprehensive premier Train/wagon/track rail Embedded Applications

16 Benefits Simulation product at reasonable cost Ownership of Code Future embedded applications Allows additions and upgrades as industry and research requires A research tool for extending friction and contact patch modelling Development of Comprehensive train/wagon/track simulation Derailment investigation Train-Infrastructure design assessment

17 Flow on to Closely Related Projects: #82, #148 Project 148 will utilise the C66 as a source of wagon response data in developing robust neural Network Models Project 82 will utilise the C66 in: Centre bearing rotation and bogie warp simulations of laboratory tests Enabling step for further work in Rail CRC 2

18 International Interest in Improving Dry Friction in Wagon Models Important theoretical area. AAR members in USA have also requested this work for AAR rollingstock and TTCI vehicle models. Static Dynamic Friction Modelling Variable Degrees of Freedom For more precise modelling of friction Snubbers 2 DOF (Vertical and Lozenge)

19 Questions

Modeling and Verification of Generic Flexible Bogie Frames with Beam Elements

Modeling and Verification of Generic Flexible Bogie Frames with Beam Elements DLR.de Chart 1 Modeling and Verification of Generic Flexible Bogie Frames with Beam Elements Christoph Wesseler German Aerospace Center (DLR) Institute of System Dynamics and Control Department Vehicle

More information

A MULTIBODY DYNAMICS APPROACH TO THE MODELING OF FRICTION WEDGE ELEMENTS FOR FRIEGHT TRAIN SUSPENSIONS

A MULTIBODY DYNAMICS APPROACH TO THE MODELING OF FRICTION WEDGE ELEMENTS FOR FRIEGHT TRAIN SUSPENSIONS A MULTIBODY DYNAMICS APPROACH TO THE MODELING OF FRICTION WEDGE ELEMENTS FOR FRIEGHT TRAIN SUSPENSIONS by Jennifer Maria Steets Thesis submitted to the Faculty of the Virginia Polytechnic Institute and

More information

Research on resonance vibration simulation method of high-speed railway vehicle carbody Yi-Zhao NIEa, Jing Zengb, Fan-Song LIc

Research on resonance vibration simulation method of high-speed railway vehicle carbody Yi-Zhao NIEa, Jing Zengb, Fan-Song LIc International Industrial Informatics and Computer Engineering Conference (IIICEC 215) Research on resonance vibration simulation method of high-speed railway vehicle carbody Yi-Zhao NIEa, Jing Zengb, Fan-Song

More information

Rail Short-wavelength Irregularity Identification based on Wheel-Rail Impact Response Measurements and Simulations

Rail Short-wavelength Irregularity Identification based on Wheel-Rail Impact Response Measurements and Simulations University of Wollongong Research Online Faculty of Engineering - Papers (Archive) Faculty of Engineering and Information Sciences 2009 Rail Short-wavelength Irregularity Identification based on Wheel-Rail

More information

Dynamic Gauging. Jakob Wingren Centre of Competence for Vehicle Dynamics Bombardier Transportation

Dynamic Gauging. Jakob Wingren Centre of Competence for Vehicle Dynamics Bombardier Transportation Dynamic Gauging Jakob Wingren Centre of Competence for Vehicle Dynamics Bombardier Transportation What is gauging? Gauge Comparison of movements against a reference contour / gauge Why gauging analysis?

More information

Controllable Suspension Design Using Magnetorheological Fluid

Controllable Suspension Design Using Magnetorheological Fluid Controllable Suspension Design Using Magnetorheological Fluid Public Defence October 213 Student: Supervisor: Co-Supervisor: Anria Strydom Prof Schalk Els Dr Sudhir Kaul 1 Outline Project background MR

More information

Fault Isolation for Urban Railway Vehicle Suspension Systems

Fault Isolation for Urban Railway Vehicle Suspension Systems Preprints of the 19th World Congress The International Federation of Automatic Control Fault Isolation for Urban Railway Vehicle Suspension Systems Xiukun Wei, Limin Jia Kun Guo Sheng Wu State Key Lab

More information

How to Perform a Quasi-Static Curving Analysis with SIMPACK Wheel/Rail

How to Perform a Quasi-Static Curving Analysis with SIMPACK Wheel/Rail How to Perform a Quasi-Static Curving Analysis with SIMPACK Wheel/Rail Version 2005-05-11 Table of Contents 1 Introduction 2 1.1 Methods 2 1.1.1 Solving a nonlinear equation system 2 1.1.2 Time integration

More information

VIRTUAL PROTOTYPING SIMULATION FOR THE DESIGN OF TWO-WHEELED VEHICLES

VIRTUAL PROTOTYPING SIMULATION FOR THE DESIGN OF TWO-WHEELED VEHICLES NTERNATIONAL DESIGN CONFERENCE - DESIGN 2002 Dubrovnik, May 14-17, 2002. VIRTUAL PROTOTYPING SIMULATION FOR THE DESIGN OF TWO-WHEELED VEHICLES S. Barone, A. Curcio and F. Pierucci Keywords: CAD, Multi-Body

More information

A Simplified Vehicle and Driver Model for Vehicle Systems Development

A Simplified Vehicle and Driver Model for Vehicle Systems Development A Simplified Vehicle and Driver Model for Vehicle Systems Development Martin Bayliss Cranfield University School of Engineering Bedfordshire MK43 0AL UK Abstract For the purposes of vehicle systems controller

More information

Windows 7 Testing. NUCARS Bugs. Attention NUCARS Users, CP LATERAL SHIFT. Wheel Flat Example. Release Number

Windows 7 Testing. NUCARS Bugs. Attention NUCARS Users, CP LATERAL SHIFT. Wheel Flat Example. Release Number Transportation Technology Center, Inc 55500 DOT Road Pueblo, CO 81001 +1 8002653184 wwwttciaarcom/nucars October 12, 2011 Attention NUCARS Users, In our continuing effort to keep our customers informed

More information

Ride Analysis of Three Wheeled Vehicle Using MATLAB/Simulink

Ride Analysis of Three Wheeled Vehicle Using MATLAB/Simulink Ride Analysis of Three Wheeled Vehicle Using MATLAB/Simulink M K Naidu 1, S Srinivasa Rao 2 and T Tejesh 3 1, 2 Asso.Profs., Mechanical Dept., M V G R College of Engineering Email: mknaidu99@gmail.com

More information

Finite Element Models for Dynamic Analysis of Vehicles and Bridges under Traffic Loads

Finite Element Models for Dynamic Analysis of Vehicles and Bridges under Traffic Loads Finite Element Models for Dynamic Analysis of Vehicles and Bridges under Traffic Loads Javier Oliva, Pablo Antolín, José M. Goicolea and Miguel Á. Astiz Department Of Mechanincs And Structures. School

More information

Development of a Spatial Track Module in SIMPACK and Application to a Simple Roller Coaster Example

Development of a Spatial Track Module in SIMPACK and Application to a Simple Roller Coaster Example SIMPACK User Meeting 2004 Wartburg, Eisenach, November 2004 Development of a Spatial Track Module in SIMPACK and Application to a Simple Roller Coaster Example Klaus Schott, Jakub Tobolář klaus.schott@dlr.de,

More information

LMS Virtual.Lab Noise and Vibration

LMS Virtual.Lab Noise and Vibration LMS Virtual.Lab Noise and Vibration LMS Virtual.Lab Noise and Vibration From component to system-level noise and vibration prediction 2 LMS Virtual.Lab Noise and Vibration LMS Virtual.Lab Noise and Vibration

More information

Kinematics. Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position.

Kinematics. Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. Kinematics Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. 1/31 Statics deals with the forces and moments which are aplied on the mechanism

More information

Multiframe September 2010 Release Note

Multiframe September 2010 Release Note Multiframe 12.11 20 September 2010 Release Note This release note describes the version 12.11 release of Multiframe, Steel Designer and Section Maker. This release is a minor upgrade that will run on Windows

More information

Capacity for Rail. KTH Systra Royal Inst. of Technology

Capacity for Rail. KTH Systra Royal Inst. of Technology Capacity for Rail Task Effect 1.2.3 of Structures very High dynamical Speed on track effects and due bridges to VHST Paris Paris 24 15th November March 2017 2014 Raid Erica KAROUMI Calatozzo KTH Systra

More information

Comparative Analysis Of Vehicle Suspension System in Matlab-SIMULINK and MSc- ADAMS with the help of Quarter Car Model

Comparative Analysis Of Vehicle Suspension System in Matlab-SIMULINK and MSc- ADAMS with the help of Quarter Car Model Comparative Analysis Of Vehicle Suspension System in Matlab-SIMULINK and MSc- ADAMS with the help of Quarter Car Model S. J. Chikhale 1, Dr. S. P. Deshmukh 2 PG student, Dept. of Mechanical Engineering,

More information

Initial Experience for the Verification of Vehicle Models according to EN14363: 2016 Annex T

Initial Experience for the Verification of Vehicle Models according to EN14363: 2016 Annex T Initial Experience for the Verification of Vehicle Models according to EN14363: 2016 Annex T 2nd SIMULIA European Multibody Simulation UGM 7th November 2017 Prof. Dr.-Ing. Rolf Naumann Christian Mallwitz,

More information

Lesson 1: Introduction to Pro/MECHANICA Motion

Lesson 1: Introduction to Pro/MECHANICA Motion Lesson 1: Introduction to Pro/MECHANICA Motion 1.1 Overview of the Lesson The purpose of this lesson is to provide you with a brief overview of Pro/MECHANICA Motion, also called Motion in this book. Motion

More information

KINEMATICS OF MACHINES. Dr.V.SUNDARESWARAN PROFESSOR OF MECHANICAL ENGG. COLLEGE OF ENGINEERING, GUINDY ANNA UNIVERSITY CHENNAI

KINEMATICS OF MACHINES. Dr.V.SUNDARESWARAN PROFESSOR OF MECHANICAL ENGG. COLLEGE OF ENGINEERING, GUINDY ANNA UNIVERSITY CHENNAI KINEMATICS OF MACHINES Dr.V.SUNDARESWARAN PROFESSOR OF MECHANICAL ENGG. COLLEGE OF ENGINEERING, GUINDY ANNA UNIVERSITY CHENNAI 600 025 MECHANICS Science dealing with motion DIVISIONS OF MECHANICS Statics

More information

Mobile Robots Locomotion

Mobile Robots Locomotion Mobile Robots Locomotion Institute for Software Technology 1 Course Outline 1. Introduction to Mobile Robots 2. Locomotion 3. Sensors 4. Localization 5. Environment Modelling 6. Reactive Navigation 2 Today

More information

USE OF CONTACT IN MULTI-BODY VEHICLE DYNAMICS AND PROFILE WEAR SIMULATION: INITIAL RESULTS

USE OF CONTACT IN MULTI-BODY VEHICLE DYNAMICS AND PROFILE WEAR SIMULATION: INITIAL RESULTS USE OF CONTACT IN MULTI-BODY VEHICLE DYNAMICS AND PROFILE WEAR SIMULATION: INITIAL RESULTS Edwin A.H. Vollebregt Delft University of Technology / VORtech BV. P.O.Box 260 NL-2600 AG Delft, The Netherlands

More information

Basilio Bona ROBOTICA 03CFIOR 1

Basilio Bona ROBOTICA 03CFIOR 1 Kinematic chains 1 Readings & prerequisites Chapter 2 (prerequisites) Reference systems Vectors Matrices Rotations, translations, roto-translations Homogeneous representation of vectors and matrices Chapter

More information

Dynamics Analysis for a 3-PRS Spatial Parallel Manipulator-Wearable Haptic Thimble

Dynamics Analysis for a 3-PRS Spatial Parallel Manipulator-Wearable Haptic Thimble Dynamics Analysis for a 3-PRS Spatial Parallel Manipulator-Wearable Haptic Thimble Masoud Moeini, University of Hamburg, Oct 216 [Wearable Haptic Thimble,A Developing Guide and Tutorial,Francesco Chinello]

More information

This week. CENG 732 Computer Animation. Warping an Object. Warping an Object. 2D Grid Deformation. Warping an Object.

This week. CENG 732 Computer Animation. Warping an Object. Warping an Object. 2D Grid Deformation. Warping an Object. CENG 732 Computer Animation Spring 2006-2007 Week 4 Shape Deformation Animating Articulated Structures: Forward Kinematics/Inverse Kinematics This week Shape Deformation FFD: Free Form Deformation Hierarchical

More information

Chapter 4 Dynamics. Part Constrained Kinematics and Dynamics. Mobile Robotics - Prof Alonzo Kelly, CMU RI

Chapter 4 Dynamics. Part Constrained Kinematics and Dynamics. Mobile Robotics - Prof Alonzo Kelly, CMU RI Chapter 4 Dynamics Part 2 4.3 Constrained Kinematics and Dynamics 1 Outline 4.3 Constrained Kinematics and Dynamics 4.3.1 Constraints of Disallowed Direction 4.3.2 Constraints of Rolling without Slipping

More information

What Is SimMechanics?

What Is SimMechanics? SimMechanics 1 simulink What Is Simulink? Simulink is a tool for simulating dynamic systems with a graphical interface specially developed for this purpose. Physical Modeling runs within the Simulink environment

More information

3D Transformations. CS 4620 Lecture 10. Cornell CS4620 Fall 2014 Lecture Steve Marschner (with previous instructors James/Bala)

3D Transformations. CS 4620 Lecture 10. Cornell CS4620 Fall 2014 Lecture Steve Marschner (with previous instructors James/Bala) 3D Transformations CS 4620 Lecture 10 1 Translation 2 Scaling 3 Rotation about z axis 4 Rotation about x axis 5 Rotation about y axis 6 Properties of Matrices Translations: linear part is the identity

More information

Modelling of Torsion Beam Rear Suspension by Using Multibody Method

Modelling of Torsion Beam Rear Suspension by Using Multibody Method Multibody System Dynamics 12: 303 316, 2004. C 2004 Kluwer Academic Publishers. Printed in the Netherlands. 303 Modelling of Torsion Beam Rear Suspension by Using Multibody Method G. FICHERA, M. LACAGNINA

More information

Multi-objective optimization of the geometry of a double wishbone suspension system

Multi-objective optimization of the geometry of a double wishbone suspension system Multi-objective optimization of the geometry of a double wishbone suspension system Juan C. Blanco 1, Luis E. Munoz 2 University of Los Andes, Bogotá, Colombia 1 Corresponding author E-mail: 1 juan-bla@uniandes.edu.co,

More information

Introduction To Robotics (Kinematics, Dynamics, and Design)

Introduction To Robotics (Kinematics, Dynamics, and Design) Introduction To Robotics (Kinematics, Dynamics, and Design) SESSION # 5: Concepts & Defenitions Ali Meghdari, Professor School of Mechanical Engineering Sharif University of Technology Tehran, IRAN 11365-9567

More information

Developing Algorithms for Robotics and Autonomous Systems

Developing Algorithms for Robotics and Autonomous Systems Developing Algorithms for Robotics and Autonomous Systems Jorik Caljouw 2015 The MathWorks, Inc. 1 Key Takeaway of this Talk Success in developing an autonomous robotics system requires: 1. Multi-domain

More information

Vehicle Dynamics & Safety: Multibody System. Simulation tools based on MultiBody approach are widespread in vehicle design and testing

Vehicle Dynamics & Safety: Multibody System. Simulation tools based on MultiBody approach are widespread in vehicle design and testing Vehicle Dynamics & Safety: Multibody System Simulation tools based on MultiBody approach are widespread in vehicle design and testing Vehicle Dynamics & Safety: Multibody System What is a Multibody System?

More information

Industrial Sections: 1.Robot Anatomy and Related Attributes 2.Robot Control Systems 3.End Effectors 4.Sensors in 5.Industrial Robot Applications 6.Robot Programming 7.Robot Accuracy and Repeatability Industrial

More information

AUTONOMOUS PLANETARY ROVER CONTROL USING INVERSE SIMULATION

AUTONOMOUS PLANETARY ROVER CONTROL USING INVERSE SIMULATION AUTONOMOUS PLANETARY ROVER CONTROL USING INVERSE SIMULATION Kevin Worrall (1), Douglas Thomson (1), Euan McGookin (1), Thaleia Flessa (1) (1)University of Glasgow, Glasgow, G12 8QQ, UK, Email: kevin.worrall@glasgow.ac.uk

More information

Study on the Dynamics Behaviour and MBS Modeling Method of a Subway Track Detecting Vehicle

Study on the Dynamics Behaviour and MBS Modeling Method of a Subway Track Detecting Vehicle First International Conference on Rail Transportation Chengdu, China, Jul -1, 17 Stud on the Dnamics Behaviour and MBS Modeling Method of a Subwa Track Detecting Vehicle Zhuang QI 1, Wenlian ZHANG, Pengfei

More information

Modular robotics and locomotion Juan Gonzalez Gomez

Modular robotics and locomotion Juan Gonzalez Gomez Modular robotics and locomotion Juan Gonzalez Gomez School of Engineering Universidad Autonoma de Madrid (Spain) Uni Hamburg. FB Informatik. AB TAMS. April 2006 Index Introduction to Modular robotics Starting

More information

Inverse Kinematics for Humanoid Robots using Artificial Neural Networks

Inverse Kinematics for Humanoid Robots using Artificial Neural Networks Inverse Kinematics for Humanoid Robots using Artificial Neural Networks Javier de Lope, Rafaela González-Careaga, Telmo Zarraonandia, and Darío Maravall Department of Artificial Intelligence Faculty of

More information

Methodology to Determine Counterweights for Passive Balancing of a 3-R Orientation Sensing Mechanism using Hanging Method

Methodology to Determine Counterweights for Passive Balancing of a 3-R Orientation Sensing Mechanism using Hanging Method Methodology to Determine Counterweights for Passive Balancing of a 3-R Orientation Sensing Mechanism using Hanging Method Shasa A. Antao, Vishnu S. Nair and Rajeevlochana G. Chittawadigi Department of

More information

AC : AN ALTERNATIVE APPROACH FOR TEACHING MULTIBODY DYNAMICS

AC : AN ALTERNATIVE APPROACH FOR TEACHING MULTIBODY DYNAMICS AC 2009-575: AN ALTERNATIVE APPROACH FOR TEACHING MULTIBODY DYNAMICS George Sutherland, Rochester Institute of Technology DR. GEORGE H. SUTHERLAND is a professor in the Manufacturing & Mechanical Engineering

More information

Role of Kinematic Analysis in tuning the Dynamic Behavior of a Formula Car

Role of Kinematic Analysis in tuning the Dynamic Behavior of a Formula Car gopalax -International Journal of Technology And Engineering System(IJTES): Jan March 2011- Vol.2.No.3. Role of Kinematic Analysis in tuning the Dynamic Behavior of a Formula Car K. J. Prashanth 1, Ashish

More information

SIMULATION ENVIRONMENT PROPOSAL, ANALYSIS AND CONTROL OF A STEWART PLATFORM MANIPULATOR

SIMULATION ENVIRONMENT PROPOSAL, ANALYSIS AND CONTROL OF A STEWART PLATFORM MANIPULATOR SIMULATION ENVIRONMENT PROPOSAL, ANALYSIS AND CONTROL OF A STEWART PLATFORM MANIPULATOR Fabian Andres Lara Molina, Joao Mauricio Rosario, Oscar Fernando Aviles Sanchez UNICAMP (DPM-FEM), Campinas-SP, Brazil,

More information

What is an industrial robot?

What is an industrial robot? What is an industrial robot? A robot is CFIDV 02CFIC CY A kinematic chain A multi-body dynamical system A system with motors and drives A system with digital and analogic sensors An electronic system A

More information

Rigid Dynamic Analysis in Workbench

Rigid Dynamic Analysis in Workbench Rigid Dynamic Analysis in Workbench 1-1 Introduction Rigid Dynamic Analysis: Calculates dynamic response of an assembly of rigid bodies. Can be used to study the kinematics of an assembly. Bodies are linked

More information

On Dynamics of Radial Elastic Wheelsets

On Dynamics of Radial Elastic Wheelsets VSDIA 2000, 7 th Mini Conference, Budapest, 6 8 November On Dynamics of Radial Elastic Wheelsets H. Claus Contents: Motivation Model Development and Simulation Results Parameter Optimization Additional

More information

Attitude Control for Small Satellites using Control Moment Gyros

Attitude Control for Small Satellites using Control Moment Gyros Attitude Control for Small Satellites using Control Moment Gyros V Lappas a, Dr WH Steyn b, Dr CI Underwood c a Graduate Student, University of Surrey, Guildford, Surrey GU 5XH, UK b Professor, University

More information

Geometric Approach For Inverse Kinematics Solution: 3-PSU Parallel Kinematic Manipulator

Geometric Approach For Inverse Kinematics Solution: 3-PSU Parallel Kinematic Manipulator Geometric Approach For Inverse Kinematics Solution: 3-PSU Parallel Kinematic Manipulator Mr. Arya B Changela P.G. Student, School of Engineering RK University, Rajkot. Prof. Keyur P Hirpara Assistant Professor,

More information

Self Assembly of Modular Manipulators with Active and Passive Modules

Self Assembly of Modular Manipulators with Active and Passive Modules Self Assembly of Modular Manipulators with Active and Passive Modules Seung-kook Yun and Daniela Rus Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology, Cambridge,

More information

We are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists. International authors and editors

We are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists. International authors and editors We are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists 3,350 108,000 1.7 M Open access books available International authors and editors Downloads Our

More information

Pointing Accuracy Analysis for a Commander s Independent Weapon Station Demonstrator

Pointing Accuracy Analysis for a Commander s Independent Weapon Station Demonstrator BAE Systems Platforms & Services Pointing Accuracy Analysis for a Commander s Independent Weapon Station Demonstrator April 22, 2015 Dirk Jungquist Dan Youtt 22 April 2015 1 Introduction This presentation

More information

A simple example. Assume we want to find the change in the rotation angles to get the end effector to G. Effect of changing s

A simple example. Assume we want to find the change in the rotation angles to get the end effector to G. Effect of changing s CENG 732 Computer Animation This week Inverse Kinematics (continued) Rigid Body Simulation Bodies in free fall Bodies in contact Spring 2006-2007 Week 5 Inverse Kinematics Physically Based Rigid Body Simulation

More information

Wheel-rail wear index prediction considering multiple contact patches

Wheel-rail wear index prediction considering multiple contact patches Wheel-rail wear index prediction considering multiple contact patches J. Santamaria *, E.G. Vadillo, O. Oyarzabal Department of Mechanical Engineering. University of the Basque Country. Alda. Urquiso s/n

More information

Simultaneous Optimization of a Wheeled Mobile Robot Structure and a Control Parameter

Simultaneous Optimization of a Wheeled Mobile Robot Structure and a Control Parameter Fifth International Workshop on Computational Intelligence & Applications IEEE SMC Hiroshima Chapter, Hiroshima University, Japan, November 10, 11 & 12, 2009 Simultaneous Optimization of a Wheeled Mobile

More information

Modeling and kinematics simulation of freestyle skiing robot

Modeling and kinematics simulation of freestyle skiing robot Acta Technica 62 No. 3A/2017, 321 334 c 2017 Institute of Thermomechanics CAS, v.v.i. Modeling and kinematics simulation of freestyle skiing robot Xiaohua Wu 1,3, Jian Yi 2 Abstract. Freestyle skiing robot

More information

Using Adams/View to Develop a Real-Time ROV Simulator

Using Adams/View to Develop a Real-Time ROV Simulator Using Adams/View to Develop a Real-Time ROV Simulator Marcelo Prado Gerson Brand Álvaro Costa Neto Multicorpos Engenharia John Hough MSC.Software Brazil Ricardo Capplonch Petrobrás Summary Introduction

More information

MBS MODELLING WITH SIMMECHANICS: CASE STUDIES IN RESEARCH AND EDUCATION

MBS MODELLING WITH SIMMECHANICS: CASE STUDIES IN RESEARCH AND EDUCATION MBS MODELLING WITH SIMMECHANICS: CASE STUDIES IN RESEARCH AND EDUCATION Grepl, R., Lee, B., Singule, V., Švejda, P., Vlachý, D., Zezula, P. Laboratory of mechatronics, FME, Brno University of Technology

More information

Live modular Robots! Dr. Houxiang Zhang. Dr. Juan González-Gómez. Faculty of Mathematics, Informatics and Natural Sciences University of Hamburg

Live modular Robots! Dr. Houxiang Zhang. Dr. Juan González-Gómez. Faculty of Mathematics, Informatics and Natural Sciences University of Hamburg Live modular Robots! Dr. Houxiang Zhang Faculty of Mathematics, Informatics and Natural Sciences University of Hamburg Dr. Juan González-Gómez School of Engineering Universidad Autonoma de Madrid DFKI

More information

Research on Suspension System Based on Genetic Algorithm and Neural Network Control

Research on Suspension System Based on Genetic Algorithm and Neural Network Control 72 The Open Mechanical Engineering Journal, 2009, 3, 72-79 Open Access Research on Suspension System Based on Genetic Algorithm and Neural Network Control Chuan-Yin Tang and Li-Xin Guo * School of Mechanical

More information

Towards Adaptive Bogie Design

Towards Adaptive Bogie Design THESIS FOR THE DEGREE OF LICENTIATE OF ENGINEERING IN SOLID AND STRUCTURAL MECHANICS Towards Adaptive Bogie Design SEYED MILAD MOUSAVI BIDELEH Department of Applied Mechanics CHALMERS UNIVERSITY OF TECHNOLOGY

More information

7 Modelling and Animating Human Figures. Chapter 7. Modelling and Animating Human Figures. Department of Computer Science and Engineering 7-1

7 Modelling and Animating Human Figures. Chapter 7. Modelling and Animating Human Figures. Department of Computer Science and Engineering 7-1 Modelling and Animating Human Figures 7-1 Introduction Modeling and animating an articulated figure is one of the most formidable tasks that an animator can be faced with. It is especially challenging

More information

Performance of railway track system under harmonic loading by finite element method

Performance of railway track system under harmonic loading by finite element method Performance of railway track system under harmonic by finite element method Ammar Shuber 1, Mohammed Hamood 1, * and Walaa Jawad 1 1 Building and Construction Engineering Department, University of Technology,

More information

Nonlinear Kinematics and Compliance Simulation of Automobiles

Nonlinear Kinematics and Compliance Simulation of Automobiles Abaqus Technology Brief TB-10-KC-1 Revised: December 2010 Nonlinear Kinematics and Compliance Simulation of Automobiles Summary In the automobile industry, kinematics and compliance (K&C) testing is used

More information

FABRICATION OF A 5 D.O.F ROBOT ARM CONTROLLED BY HAPTIC TECHNOLOGY

FABRICATION OF A 5 D.O.F ROBOT ARM CONTROLLED BY HAPTIC TECHNOLOGY FABRICATION OF A 5 D.O.F ROBOT ARM CONTROLLED BY HAPTIC TECHNOLOGY 1 NITHIN RAJAN, 2 V.MANOJ KUMAR 1 Graduate Student, 2 Ass. Professor SRM University E-mail: Nitz.719@gmail.com, vmanojkumar19@gmail Abstract-

More information

MECHANICAL ENGINEERING

MECHANICAL ENGINEERING MECHANICAL ENGINEERING ESE TOPICWISE OBJECTIVE SOLVED PAPER-II FROM (1995-2018) UPSC Engineering Services Examination State Engineering Service Examination & Public Sector Examination. IES MASTER PUBLICATION

More information

ROBOTICS 01PEEQW. Basilio Bona DAUIN Politecnico di Torino

ROBOTICS 01PEEQW. Basilio Bona DAUIN Politecnico di Torino ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino Kinematic chains Readings & prerequisites From the MSMS course one shall already be familiar with Reference systems and transformations Vectors

More information

SUPPORTING LINEAR MOTION: A COMPLETE GUIDE TO IMPLEMENTING DYNAMIC LOAD SUPPORT FOR LINEAR MOTION SYSTEMS

SUPPORTING LINEAR MOTION: A COMPLETE GUIDE TO IMPLEMENTING DYNAMIC LOAD SUPPORT FOR LINEAR MOTION SYSTEMS SUPPORTING LINEAR MOTION: A COMPLETE GUIDE TO IMPLEMENTING DYNAMIC LOAD SUPPORT FOR LINEAR MOTION SYSTEMS Released by: Keith Knight Catalyst Motion Group Engineering Team Members info@catalystmotiongroup.com

More information

Mechanical Electrical Digital

Mechanical Electrical Digital Mechatronics I: Mechanical Systems Richard Voyles Week 1 Based on notes from Paul Rullkoetter Mechatronic Systems Mechanical Structure Actuats Senss Transducers DAC ADC Computer Digital Processing Element

More information

CKAS W15R 7DOF Motion System (1500kg / 3300lb Payload) 6DOF + Infinite Turntable

CKAS W15R 7DOF Motion System (1500kg / 3300lb Payload) 6DOF + Infinite Turntable CKAS W15R 7DOF Motion System (1500kg / 3300lb Payload) 6DOF + Infinite Turntable Introduction Target Applications The CKAS W15R 7DOF Motion System is specifically directed at medium-heavy weight professional

More information

Application of planar air-bearing microgravity simulator for experiments related to ADR missions

Application of planar air-bearing microgravity simulator for experiments related to ADR missions Application of planar air-bearing microgravity simulator for experiments related to ADR missions Tomasz Rybus, Karol Seweryn, Jakub Oleś, Piotr Osica, Katarzyna Ososińska Space Research Centre of the Polish

More information

We are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists. International authors and editors

We are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists. International authors and editors We are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists 3,800 116,000 120M Open access books available International authors and editors Downloads Our

More information

Darshan Vijay Wale 1

Darshan Vijay Wale 1 IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE) ISSN: 2278-1684, PP: 16-20 www.iosrjournals.org Modelling and Simulation of Full Vehicle for Analysing Kinematics and Compliance Characteristics

More information

Linear/Rotary Hexapod Actuators with IMU8420 Motion Capture and Real Time Simulator Tools

Linear/Rotary Hexapod Actuators with IMU8420 Motion Capture and Real Time Simulator Tools Linear/Rotary Hexapod Actuators with IMU8420 Motion Capture and Real Time Simulator Tools Preliminary Overview www.soc-robotics.com Copyright 2013. SOC Robotics, Inc. 1 Version 1.00 Introducing a low-cost

More information

Design of Spider Mechanism for Extraterrestrial Rover

Design of Spider Mechanism for Extraterrestrial Rover Design of Spider Mechanism for Extraterrestrial Rover Abin Simon 1, Kailash Dutt 1, Praveen Basil 1, Sreekuttan TK 1, Adithye Suresh 1, Arun M 1, Dr.Ganesh Udupa 2, Pramod Sreedharan 3 U.G. Student, Dept.

More information

2. Motion Analysis - Sim-Mechanics

2. Motion Analysis - Sim-Mechanics 2 Motion Analysis - Sim-Mechanics Figure 1 - The RR manipulator frames The following table tabulates the summary of different types of analysis that is performed for the RR manipulator introduced in the

More information

September 20, Chapter 5. Simple Mechanisms. Mohammad Suliman Abuhaiba, Ph.D., PE

September 20, Chapter 5. Simple Mechanisms. Mohammad Suliman Abuhaiba, Ph.D., PE Chapter 5 Simple Mechanisms 1 Mohammad Suliman Abuhaiba, Ph.D., PE 2 Assignment #1 All questions at the end of chapter 1 st Exam: Saturday 29/9/2018 3 Kinematic Link or Element kinematic link (link) or

More information

10/11/07 1. Motion Control (wheeled robots) Representing Robot Position ( ) ( ) [ ] T

10/11/07 1. Motion Control (wheeled robots) Representing Robot Position ( ) ( ) [ ] T 3 3 Motion Control (wheeled robots) Introduction: Mobile Robot Kinematics Requirements for Motion Control Kinematic / dynamic model of the robot Model of the interaction between the wheel and the ground

More information

Commercial Vehicle Powertrain Mount Selection Based on Static and Modal Analysis Using Altair Motion-Solve

Commercial Vehicle Powertrain Mount Selection Based on Static and Modal Analysis Using Altair Motion-Solve Commercial Vehicle Powertrain Mount Selection Based on Static and Modal Analysis Using Altair Motion-Solve E.Loganathan Divisional manager Ashok Leyland Limited Vallur Chennai-600103 India Loganathan.e@ashokleyland.com

More information

NUMERICAL ANALYSIS OF ROLLER BEARING

NUMERICAL ANALYSIS OF ROLLER BEARING Applied Computer Science, vol. 12, no. 1, pp. 5 16 Submitted: 2016-02-09 Revised: 2016-03-03 Accepted: 2016-03-11 tapered roller bearing, dynamic simulation, axial load force Róbert KOHÁR *, Frantisek

More information

EVALUATION OF THE EFFECTS OF TEST PARAMETERS ON THE RESULTS OF THE LOWER LEGFORM IMPACTOR

EVALUATION OF THE EFFECTS OF TEST PARAMETERS ON THE RESULTS OF THE LOWER LEGFORM IMPACTOR TEG-82 EVALUATION OF THE EFFECTS OF TEST PARAMETERS ON THE RESULTS OF THE LOWER LEGFORM IMPACTOR Sven Olav Siems Volkswagen AG Oliver Zander BASt Bundesanstalt für Straßenwesen Peter Leßmann Dirk-Uwe Gehring

More information

Railway car dynamic response to track transition curve and single standard turnout

Railway car dynamic response to track transition curve and single standard turnout Computers in Railways X 849 Railway car dynamic response to track transition curve and single standard turnout J. Droździel & B. Sowiński Warsaw University of Technology, Poland Abstract In this paper

More information

Kinematics and dynamics analysis of micro-robot for surgical applications

Kinematics and dynamics analysis of micro-robot for surgical applications ISSN 1 746-7233, England, UK World Journal of Modelling and Simulation Vol. 5 (2009) No. 1, pp. 22-29 Kinematics and dynamics analysis of micro-robot for surgical applications Khaled Tawfik 1, Atef A.

More information

A MECHATRONIC APPROACH OF THE WINDSHIELD WIPER MECHANISMS

A MECHATRONIC APPROACH OF THE WINDSHIELD WIPER MECHANISMS A MECHATRONIC APPROACH OF THE WINDSHIELD WIPER MECHANISMS Alexandru Cătălin Transilvania University of Braşov calex@unitbv.ro Keywords: windshield wiper mechanism, dynamic simulation, control system, virtual

More information

Inverse Kinematics for Humanoid Robots Using Artificial Neural Networks

Inverse Kinematics for Humanoid Robots Using Artificial Neural Networks Inverse Kinematics for Humanoid Robots Using Artificial Neural Networks Javier de Lope, Rafaela González-Careaga, Telmo Zarraonandia, and Darío Maravall Department of Artificial Intelligence Faculty of

More information

AN APPROACH TO DEVELOPING A REFERENCE PROFILER

AN APPROACH TO DEVELOPING A REFERENCE PROFILER AN APPROACH TO DEVELOPING A REFERENCE PROFILER John B. Ferris TREY Associate SMITH Professor Graduate Mechanical Research Engineering Assistant Virginia Tech RPUG October Meeting 08 October 28, 2008 Overview

More information

Flexible multibody systems - Relative coordinates approach

Flexible multibody systems - Relative coordinates approach Computer-aided analysis of multibody dynamics (part 2) Flexible multibody systems - Relative coordinates approach Paul Fisette (paul.fisette@uclouvain.be) Introduction In terms of modeling, multibody scientists

More information

Research Article Dynamic Rocker-Bogie: Kinematical Analysis in a High-Speed Traversal Stability Enhancement

Research Article Dynamic Rocker-Bogie: Kinematical Analysis in a High-Speed Traversal Stability Enhancement Aerospace Engineering Volume 216, Article ID 518197, 8 pages http://dx.doi.org/1.1155/216/518197 Research Article Dynamic Rocker-Bogie: Kinematical Analysis in a High-Speed Traversal Stability Enhancement

More information

Geometric Transformations

Geometric Transformations Geometric Transformations CS 4620 Lecture 9 2017 Steve Marschner 1 A little quick math background Notation for sets, functions, mappings Linear and affine transformations Matrices Matrix-vector multiplication

More information

Parametric Study of Engine Rigid Body Modes

Parametric Study of Engine Rigid Body Modes Parametric Study of Engine Rigid Body Modes Basem Alzahabi and Samir Nashef C. S. Mott Engineering and Science Center Dept. Mechanical Engineering Kettering University 17 West Third Avenue Flint, Michigan,

More information

Flexible Body Suspension System Modeling and Simulation Using MD Nastran SOL700 in VPG Environment

Flexible Body Suspension System Modeling and Simulation Using MD Nastran SOL700 in VPG Environment Flexible Body Suspension System Modeling and Simulation Using MD Nastran SOL700 in VPG Environment Casey Heydari, Ted Pawela MSC.Software Corporation Santa Ana, California Tim Palmer, Arthur Tang Engineering

More information

Proceedings of the 2013 SpaceVision Conference November 7-10 th, Tempe, AZ, USA ABSTRACT

Proceedings of the 2013 SpaceVision Conference November 7-10 th, Tempe, AZ, USA ABSTRACT Proceedings of the 2013 SpaceVision Conference November 7-10 th, Tempe, AZ, USA Development of arm controller for robotic satellite servicing demonstrations Kristina Monakhova University at Buffalo, the

More information

Tech Tip. The concise guide to Nastran Rigid Elements

Tech Tip. The concise guide to Nastran Rigid Elements Tech Tip The concise guide to Nastran Rigid Elements The Nastran group of elements often described as the "Rigid Elements" are very useful engineering analysis tools. "Rigid Element" is a slight misnomer,

More information

Project Chrono. Overview, structure, capabilities

Project Chrono. Overview, structure, capabilities Project Chrono Overview, structure, capabilities Project Chrono Growing ecosystem of software tools Multi physics simulation engine Open source, released under permissive BSD 3 license Provides support

More information

Non Linear Control of Four Wheel Omnidirectional Mobile Robot: Modeling, Simulation and Real-Time Implementation

Non Linear Control of Four Wheel Omnidirectional Mobile Robot: Modeling, Simulation and Real-Time Implementation Non Linear Control of Four Wheel Omnidirectional Mobile Robot: Modeling, Simulation and Real-Time Implementation eer Alakshendra Research Scholar Robotics Lab Dr Shital S.Chiddarwar Supervisor Robotics

More information

Robot mechanics and kinematics

Robot mechanics and kinematics University of Pisa Master of Science in Computer Science Course of Robotics (ROB) A.Y. 2016/17 cecilia.laschi@santannapisa.it http://didawiki.cli.di.unipi.it/doku.php/magistraleinformatica/rob/start Robot

More information

Dot-to-dot recent progress in UAS LiDAR: calibration, accuracy assessment, and application

Dot-to-dot recent progress in UAS LiDAR: calibration, accuracy assessment, and application Dot-to-dot recent progress in UAS LiDAR: calibration, accuracy assessment, and application Arko Lucieer, Colin McCoull, Richard Ballard, Steve Harwin, Deepak Gautam, Darren Turner Surveying and Spatial

More information

Chapter 1: Introduction

Chapter 1: Introduction Chapter 1: Introduction This dissertation will describe the mathematical modeling and development of an innovative, three degree-of-freedom robotic manipulator. The new device, which has been named the

More information

2.007 Design and Manufacturing I Spring 2009

2.007 Design and Manufacturing I Spring 2009 MIT OpenCourseWare http://ocw.mit.edu 2.007 Design and Manufacturing I Spring 2009 For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms. 2.007 Design and Manufacturing

More information

CHAPTER 1 : KINEMATICS

CHAPTER 1 : KINEMATICS KINEMATICS : It relates to the study of the relative motion between the parts of a machine. Let us consider a reciprocating engine, in this the piston is made to reciprocate in the cylinderdue to the applied

More information