Dynamics of Mechanical Systems

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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.