000			01713nam a22001697a 4500
082			_a620.105 _bC361D
100			_aChandra, Vikash _926453
245			_aDevelopment and Benchmarking of an Open Source Multibody Dynamics Solver _cby Vikash Chandra
260			_aIIT Jodhpur _bDepartment of Mechanical Engineering _c2019
300			_axviii,56p. _bHB
520			_aMany 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.
650			_aOpen Source Multibody Dynamics Solver _926454
650			_aMTech Theses _926455
650			_aDepartment of Mechanical Engineering _926456
700			_aShah, Suril V. _926457
942			_cTH
999			_c14753 _d14753