A library of MATLAB tools used to simulate the dynamic behavior of a rigid and flexible body system with arbitrary topology.
Methodology
The methodology used for rigid multibody systems dynamics follows (Parviz E. Nikravesh 1989), using a Augmented Lagrange Formulation and the DIM. To describe large relative rotations in deformable systems a finite element representation of each flexible component is used following the methodology presented by Jorge Ambrosio in DSM2007.
Current Features
The following components of a multibody system are currently supported:
Bodies: rigid flexible
Joints
Spherical
Revolute
Rigid
Force types
Spring force
Force Elements
Gravity
Translational (The mentioned force types are applied along the line connecting two points)
Simulation results: Propagation of
All body coordinates, their first and second derivatives
The Jacobian and Lagrange multiplies of the position constraints
The constraint and joint reaction forces acting on the bodies centers of mass
The applied forces acting on the bodies centers of mass
The output values of all user-defined functions
Simulation results: Propagation of
All body coordinates, their first derivatives
The Jacobian and Lagrange multiplies of the position constraints
The constraint and joint reaction forces acting on the bodies centers of mass
Getting started
See
Rrods3Revel2_v01.m - chain with 4 rigid bodies and 3 revolute joints
Rrods3Sherical2_v01.m - chain with 4 rigid bodies and 3 spherical joints
ElasticRod3_v01.m - single elastic body defined by a chain with 3 nodes
ElasticRod16_v02.m - single elastic body defined by a chain with 16 nodes
ElasticSurface16Modes_v02.m - single elastic body defined by a surface with 4x4 nodes
ElasticBlock32Modes_v02.m - single elastic body defined by a block with 4x4x2 nodes
use
GraphMovie(file) - with data from the elastic body simulations for avi generation