Computational dynamics of mechanical systems

本研究项目旨在开发和应用一种新的机械系统动力学建模、分析、控制和设计框架。该框架将扩展分析力学的当前边界，并将建立解决多体系统、机器人、触觉、虚拟环境和生物力学系统等领域许多问题的方法。这项工作将产生重要的新的理论和实践知识，从而推动艺术的发展。它也将导致建模，分析，仿真，控制技术和算法。一个特殊的分析贡献是系统地统一考虑具有广泛约束条件的复杂有限自由度机械系统。这些条件包括非理想约束、不完美约束、单侧约束运动、脉冲运动以及经典的理想双边约束。动态和静态表示的新形式也将在这个框架中出现。我们打算开发基础知识，以更深入地了解非结构化环境中自主移动系统的行为。这可以导致更有效的系统的发展。所提出的方法也将提供对生物运动的见解，并将有助于控制和设计人造腿系统。利用提出的分析框架，我们还将研究生物力学动力学和机器人的一些基本问题，这些问题与冗余驱动和约束有关。高保真触觉渲染，为与虚拟或远程操作环境的交互提供物理触感，提出了几个挑战。基于分析框架，我们提出了一种方法，该方法将有望解决其中的几个问题，并促进先进的触觉多体机制和仿真，控制算法和设计的发展。对高素质人才的研究培训将是这项工作的重要组成部分。这项研究计划的预期结果将对整个工业和社会产生重大效益。

This research program addresses the development and applications of a novel framework for dynamics modelling, analysis, control, and design of mechanical systems. This framework will expand the current boundaries of analytical mechanics and will establish methods to the solution of a number of problems in the areas of multibody systems, robotics, haptics, virtual environments, and biomechanical systems. The work will generate significant new theoretical and practical knowledge, thereby advancing the state of the art. It will also result in modelling, analysis, simulation, and control techniques and algorithms. A particular analytical contribution is the systematic unified consideration of complex finite degree of freedom mechanical systems with a broad range of constraint conditions. These conditions include nonideal constraints, imperfect constraints, aspects of unilaterally constrained motion, impulsive motion, as well as classical ideal bilateral constraints. Novel forms of dynamics and statics representations will also emerge in this framework. We intend to develop the fundamentals to offer a deeper understanding of the behaviour of autonomous mobile systems for unstructured environments. This can lead to the development of more efficient systems. The methods proposed will also offer insight into biological locomotion and will contribute to the control and design of artificial legged systems. Using the proposed analytical framework, we will also study some fundamental problems of biomechanical dynamics and robotics, which are related to redundant actuation and constraints. High-fidelity haptic rendering, to provide the physical feeling of touch for the interaction with virtual or teleoperated environments, poses several challenges. Based on the analytical framework, we propose an approach that will hold the promise to solve several of these problems, and facilitate the development of advanced haptic multibody mechanisms and simulations, control algorithms, and design. Research training of highly qualified personnel will be an important element of the work. The anticipated results of this research program will be of significant benefit to industry and society at large.