TY  - BOOK
AU  - Chandra,  Vikash
AU  - Shah, Suril V.
TI  - Development and Benchmarking of an Open Source Multibody Dynamics Solver
U1  - 620.105 
PY  - 2019///
CY  - IIT Jodhpur
PB  - Department of Mechanical Engineering
KW  - Open Source Multibody Dynamics Solver
KW  - MTech Theses
KW  - Department of Mechanical Engineering
N2  - 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

ER  -