Development and Benchmarking of an Open Source Multibody Dynamics Solver (Record no. 14753)

MARC details
000 -LEADER
fixed length control field 01713nam a22001697a 4500
082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER
Classification number 620.105
Item number C361D
100 ## - MAIN ENTRY--AUTHOR NAME
Personal name Chandra, Vikash
245 ## - TITLE STATEMENT
Title Development and Benchmarking of an Open Source Multibody Dynamics Solver
Statement of responsibility, etc by Vikash Chandra
260 ## - PUBLICATION, DISTRIBUTION, ETC. (IMPRINT)
Place of publication IIT Jodhpur
Name of publisher Department of Mechanical Engineering
Year of publication 2019
300 ## - PHYSICAL DESCRIPTION
Number of Pages xviii,56p.
Other physical details HB
520 ## - SUMMARY, ETC.
Summary, etc Many systems such as automobiles, spacecraft, robots, mechanisms, and aircraft comprise intercon-nected components that undergo large translational and rotational displacements. Such systems are a com-bination of multibody that are interconnected by joints which allow constrained motion. Before-mentionedsystems are mathematically modeled by the governing forces to derive the motion of the system. There is aneed for a dynamic solver which is open source, compatible with ROS. Driven by this motivation, python-based dynamics solver is developed, which can also serve academics purposes.First, Equations of Motion (EOM) of different systems are formulated, and then dynamic behavioris simulated in the virtual environment. In this thesis, Inverse and Forward dynamics using DeNOC matricesis implemented on open source Platform for Fixed Base as well as Floating Base. This work presents apython-based Graphical User Interface(GUI) which is developed to increase its accessibility to more user.The results are validated using Recursive Dynamics Simulator (ReDySim), and the stability of the algorithmis also compared with existing algorithms.<br/>
650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM
Topical Term Open Source Multibody Dynamics Solver
Topical Term MTech Theses
Topical Term Department of Mechanical Engineering
700 ## - ADDED ENTRY--PERSONAL NAME
Personal name Shah, Suril V.
942 ## - ADDED ENTRY ELEMENTS (KOHA)
Koha item type Thesis
Holdings
Withdrawn status Lost status Damaged status Not for loan Collection code Permanent Location Current Location Shelving location Date acquired Full call number Accession Number Price effective from Koha item type
      Not For Loan Reference S. R. Ranganathan Learning Hub S. R. Ranganathan Learning Hub Course Reserve 2024-01-30 620.105 C361D TM00170 2024-01-30 Thesis