The study undertaken by José Javier Gil Soto centred on the simulation of mechanical systems. The thesis begins with a review of the literature on the subject and then there is a description of the implementation of a symbolic language, based on the MatLab-Maple symbolic engine, specific to DSM. MatLab is a matricial and symbolic calculus programme. We chose this because, from the users’ point of view, it had a number of advantages compared to other programming languages. The developed tool enables the user to put forward dynamic equations for a mechanical system in a symbolic manner and subsequently resolve them numerically.
The developed symbolic system enables the definition of the Multisolid system on three levels of abstraction that are different to and compatible with each other. Moreover, it has libraries for exporting to other languages and numerical templates aimed at the resolution of typical DSM problems.
The advantage provided by this algebraic system is, given its symbolic character, it is independent of the type of co-ordinates used. Thus, the set of dynamic equations obtained is more compact and suitable for the simulation of, for example, dynamic systems in real time.
The design of a fork-lift truck
Although the aim of the thesis was the development of dynamic models for rigid solid systems, the philosophy of its implementation means that the proposed thesis can be easily extended to combined rigid-flexible systems.
The implemented system can also be applied in the real time simulation of dynamic systems. In this regard, the research team at the Public University of Navarra is currently working with 3D_Mec-MatLab to develop a dynamic model for a fork-lift truck that interacts with a virtual reality system. In this case, the dynamic model has to be put forward in such a way that the dynamic equations can be resolved at the same time as the user of the virtual reality programme carries out certain operations (activating steering wheel and so on).
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