Dynamics of Mechanical Systems

这项发现拨款申请旨在支持我在机械系统动力学领域研究计划的核心组成部分。我的研究项目涉及范围广泛的动力学主题，从基础理论工作到与工业合作伙伴的研究项目。我的研究小组通常由研究生、博士后和本科生实习生组成。本提案主要围绕一些基础性的研究问题和问题展开。这些解决方案可以显着推进机械系统动力学，多体系统，机器人，触觉和制造领域的最新技术。建议的工作和结果将扩展我的整体研究计划，增加我的研究的影响，并有助于与工业伙伴和国际合作开发大规模的研究项目。对这项研究的需求是由开放的科学问题和工业应用驱动的。本提案的中心主题是与接触和互动有关。在这一领域确定了今后五年的三个主要目标。第一个是处理库仑摩擦下的接触问题。我们将开发新的模型配方和增强的摩擦模型，以及用于高级建模、仿真和分析的算法。这项工作解决了在解决基于仿真的工程学科面临的一些重大挑战方面的重要问题。第二个目标涉及虚拟接触系统动力学的综合理论处理。这是控制人机系统行为的动力学，其中人类通过触觉设备触摸虚拟环境。这一目标直接解决了21世纪的重大工程挑战之一，即虚拟触摸和现实。这项工作也将与机械系统的机电一体化设计相关，直接结合动力学模型中的硬件和软件实现非理想性。第三个目标将涉及机器人加工的动力学。它将建立一个包含切削力的加工机器人的一般动力学模型，该模型给出了机器人手持加工工具与工件之间的接触表示。还将在实验和模拟的基础上进行广泛的验证。这项工作有助于将机器人加工能力扩展到金属切削应用。由于航空航天工业对此类应用非常感兴趣，因此具有很高的影响潜力。研究结果还可以激发时滞多体系统的新研究领域的出现。这项研究工作将在很大程度上依赖于一批HQP学员。这项工作将在研究生项目中进行。然而，我的研究项目也会有本科生暑期实习生和博士后参与。他们将根据我的计划的其他要素得到支持。这项研究将产生新的知识，并将在多体系统动力学、机器人技术、触觉学、制造、机械设计、分析和仿真技术方面得到应用，同时在航空航天、汽车和制造业领域也有潜在的重大影响和贡献。

This Discovery Grant application aims at supporting the core components of my research program in the areas of Dynamics of Mechanical Systems. My research program deals with a broad range of topics in Dynamics ranging from fundamental theoretical work to research projects with industrial partners. My research group is typically composed of graduate students, postdoctoral fellows and undergraduate interns. This proposal focuses on some fundamental research questions and problems. The solution of these can significantly advance the state of the art in the areas of mechanical system dynamics, multibody systems, robotics, haptics, and manufacturing. The proposed work and the results will expand my overall research program, increase the impact of my research, and contribute to developing large-scale research projects with industrial partners and international collaborations. The need for the research is motivated by both open scientific problems and industrial applications. The central theme in this proposal is related to contact and interaction. Three main objectives are identified in this area for the coming five years. The first one will deal with contact problems with Coulomb friction. We will develop new model formulations and enhanced friction models together with algorithms for advanced modelling, simulation, and analysis. This work addresses problems that are important in the solution of some of the grand challenges the discipline of simulation-based engineering faces. The second objective addresses the comprehensive theoretical treatment of the dynamics of virtual contact systems. This is the dynamics governing the behaviour of human-machine-computer systems where the human touches the virtual environment via a haptic device. This objective directly addresses one of the grand engineering challenges of the 21st century, virtual touch and reality. The work will also be relevant to mechatronic design of mechanical systems with the direct incorporation of the hardware and software implementation non-idealities in the dynamics model. The third objective will deal with the dynamics of robotic machining. It will establish a general dynamics model for machining robots incorporating the cutting forces that give the contact representation between the robot-held machining tool and the workpiece. Extensive validation will also be performed based on experiments and simulation. This work can contribute to extend robotic machining capabilities to metal cutting applications. This holds the potential of high impact as the aerospace industry is keenly interested in such applications. The results can also motivate the emergence of a new research area in time-delayed multibody systems. The research work will heavily rely on a group of HQP trainees. The work will be structured in graduate student projects. However, my research program will also have undergraduate summer interns and postdoctoral fellows involved. They will be supported based on other elements of my program. The proposed research will generate new knowledge, and will have applications in multibody system dynamics, robotics, haptics, manufacturing, mechanical design, analysis and simulation technologies as well as it has potential for major impact and contributions in the aerospace, automotive, and manufacturing industrial sectors.