Dynamics of Mechanical Systems

这项发现资助申请旨在支持我在机械系统动力学领域的研究计划的核心组成部分。我的研究项目涉及动力学的广泛主题，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、博士后研究员和本科生实习生组成。 这一建议聚焦于一些基础性的研究问题和问题。这些问题的解决方案可以显著提高机械系统动力学、多体系统、机器人、触觉和制造领域的技术水平。拟议的工作和成果将扩大我的整体研究计划，增加我的研究的影响，并有助于与行业合作伙伴和国际合作开发大型研究项目。这项研究的需要既有公开的科学问题，也有工业应用。 这项提议的中心主题与接触和互动有关。确定了这一领域今后五年的三个主要目标。第一个问题是关于库仑摩擦的接触问题。我们将开发新的模型公式和增强的摩擦模型，以及用于高级建模、模拟和分析的算法。这项工作解决了一些重要的问题，这些问题在解决基于模拟的工程学科面临的一些重大挑战方面是重要的。第二个目标是对虚拟接触系统动力学进行全面的理论处理。这是支配人类-机器-计算机系统行为的动力学，在这个系统中，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--虚拟触觉和现实。这项工作还将与机械系统的机电一体化设计有关，将硬件和软件实施的非理想性直接纳入动力学模型。第三个目标将涉及机器人加工的动力学。它将为加工机器人建立一个通用的动力学模型，该模型包含了切削力，该切削力给出了机器人手持加工工具和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割应用。这具有产生巨大影响的潜力，因为航空航天行业对此类应用非常感兴趣。这一结果还可以促进时滞多体系统中一个新的研究领域的出现。 研究工作将在很大程度上依赖于一批HQP实习生。这项工作将被安排在研究生项目中。然而，我的研究项目也将有本科生暑期实习生和博士后研究员参与。他们将得到基于我的计划的其他要素的支持。拟议的研究将产生新的知识，并将在多体系统动力学、机器人学、触觉、制造、机械设计、分析和仿真技术以及在航空航天、汽车和制造工业部门的重大影响和贡献方面具有潜在的应用。

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.