Computational dynamics of mechanical systems

这项研究计划致力于开发和应用一个新的框架，用于机械系统的动力学建模、分析、控制和设计。这个框架将扩展目前分析力学的边界，并将建立方法来解决多体系统、机器人、触觉、虚拟环境和生物力学系统等领域的许多问题。这项工作将产生重要的新的理论和实践知识，从而推动最先进的技术。它还将导致建模、分析、仿真和控制技术和算法。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的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、单面约束运动、脉冲运动以及经典的理想双边约束。新形式的动力学和静力学表示也将出现在这个框架中。我们打算开发基础知识，以便更深入地了解自主移动系统在非结构化环境中的行为。这可以导致开发更高效的系统。所提出的方法也将提供对生物运动的洞察，并将有助于人工腿系统的控制和设计。利用所提出的分析框架，我们还将研究与冗余驱动和约束相关的生物力学动力学和机器人学的一些基本问题。高保真的触觉渲染为与虚拟或远程操作环境的交互提供物理触觉感觉，这带来了几个挑战。基于分析框架，我们提出了一种方法，该方法有望解决其中的一些问题，并促进先进的触觉多体机构和模拟、控制算法和设计的发展。高素质人才的科研培训将是这项工作的重要内容。这一研究计划的预期结果将对行业和整个社会产生重大好处。

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.