Modeling and Solution Methods for Efficient Real-Time Simulation of Multibody Dynamics

Current simulation tools for multibody dynamics arenot problem dependent, they use the same modelingprocess to all cases regardless of theircharacteristics. In addition, real-time simulation ofsmall multibody systems is achievable by existingsimulation tools, however, real-time simulation oflarge and complex systems is not possible withexisting methods. This is a challenge that needs to beaddressed before further advances in mechanicalsimulation with hardware-in-the-loop andman-in-the-loop, as well as virtual prototyping aremade possible.This paper addresses the issue of how the modelingprocess – dependent versus independent co-ordinates, anddescriptor form versus state-space form of theequations of motion – affects the dynamic simulation ofmultibody systems and how it could be taken intoaccount to define the concept of intelligentsimulation. With this new concept all the factorsinvolved in the simulation process – modeling,equations, solution, etc. – are chosen and combineddepending upon the characteristics of the system to besimulated. It is envisioned that this concept willlead to faster and more robust real-time simulators.

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