Computational dynamics of mechanical systems

机械系统的计算动力学

• 批准号: 298206-2009
• 负责人: Kövecses, Jozsef
• 金额: $ 2.62万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2013
• 资助国家: 加拿大
• 起止时间: 2013-01-01 至 2014-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=525913
• 关键词: Computational; dynamics; mechanical; systems

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.

该研究计划涉及机械系统动力学建模，分析，控制和设计的新框架的开发和应用。该框架将扩展分析力学的现有边界，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一些问题。这项工作将产生重要的新的理论和实践知识，从而推进最先进的技术。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的统一考虑复杂的有限自由度的机械系统与广泛的约束条件。这些条件包括非理想约束、不完美约束、单边约束运动、脉冲运动以及经典的理想双边约束。新形式的动态和静态表示也将出现在这个框架。我们打算发展的基本面，提供一个更深入的了解自主移动的系统的非结构化环境的行为。这可以导致更有效的系统的开发。提出的方法也将提供深入了解生物运动，并将有助于控制和设计的人工腿系统。使用所提出的分析框架，我们还将研究生物力学动力学和机器人学的一些基本问题，这些问题与冗余驱动和约束有关。高保真触觉渲染，以提供与虚拟或遥控环境的交互触摸的物理感觉，提出了几个挑战。基于分析框架，我们提出了一种方法，将持有的承诺，以解决这些问题，并促进先进的触觉多体机制和模拟，控制算法和设计的发展。对高素质人员进行研究培训将是这项工作的一个重要内容。这项研究计划的预期结果将对整个行业和社会产生重大影响。