Computational dynamics of mechanical systems

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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.