Development and Benchmarking of an Open Source Multibody Dynamics Solver (Record no. 14753)
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000 -LEADER | |
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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 |
Withdrawn status | Lost status | Damaged status | Not for loan | Collection code | Permanent Location | Current Location | Shelving location | Date acquired | Full call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 |
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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 |