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A tensor-based modelling and simulation method for multibody system

A tensor-based modelling and simulation method for multibody system PurposeThe purpose of this paper is to provide a method with convenient modelling as well as precise computation to the research of complex multi-body system, such as robot arms and solar power satellite. Classical modelling method does not always fit these two requirements.Design/methodology/approachIn this paper, tensor coordinates (TC) and homogeneous tensor coordinates (HTC) method with gradient components are developed, which also have a convenient interface with classical theory.FindingsThe HTC proved its precision and effectiveness by two examples. In HTC model, equations have a more convenient form as matrix and the results coincide well with classical one.Research limitations/implicationsThere is no plenty detailed operations supported in mathematics yet, which may be developed in further research.Practical implicationsWith TC/HTC method, the research work can be separated more thoroughly: a simpler modelling work is left to scientists, when more computing work is handed to the computers. It may ease scientists’ brains in multibody modelling.Originality/valueThe HTC method has the advantages of absolute nodal coordinate formulations, tensor and homogeneous coordinate (HC) and it may be used in multibody mechanics, or other related engineerings. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Engineering Computations: International Journal for Computer-Aided Engineering and Software Emerald Publishing

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References (15)

Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
0264-4401
DOI
10.1108/EC-11-2015-0375
Publisher site
See Article on Publisher Site

Abstract

PurposeThe purpose of this paper is to provide a method with convenient modelling as well as precise computation to the research of complex multi-body system, such as robot arms and solar power satellite. Classical modelling method does not always fit these two requirements.Design/methodology/approachIn this paper, tensor coordinates (TC) and homogeneous tensor coordinates (HTC) method with gradient components are developed, which also have a convenient interface with classical theory.FindingsThe HTC proved its precision and effectiveness by two examples. In HTC model, equations have a more convenient form as matrix and the results coincide well with classical one.Research limitations/implicationsThere is no plenty detailed operations supported in mathematics yet, which may be developed in further research.Practical implicationsWith TC/HTC method, the research work can be separated more thoroughly: a simpler modelling work is left to scientists, when more computing work is handed to the computers. It may ease scientists’ brains in multibody modelling.Originality/valueThe HTC method has the advantages of absolute nodal coordinate formulations, tensor and homogeneous coordinate (HC) and it may be used in multibody mechanics, or other related engineerings.

Journal

Engineering Computations: International Journal for Computer-Aided Engineering and SoftwareEmerald Publishing

Published: Jun 12, 2017

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