Thestudy undertaken by José Javier Gil Soto centred on the simulation ofmechanical systems. The thesis begins with a review of the literatureon the subject and then there is a description of the implementation ofa 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 numberof advantages compared to other programming languages. The developedtool enables the user to put forward dynamic equations for a mechanicalsystem in a symbolic manner and subsequently resolve them numerically.
Thedeveloped symbolic system enables the definition of the Multisolidsystem on three levels of abstraction that are different to andcompatible with each other. Moreover, it has libraries for exporting toother languages and numerical templates aimed at the resolution oftypical DSM problems.
The advantage provided by this algebraicsystem is, given its symbolic character, it is independent of the typeof co-ordinates used. Thus, the set of dynamic equations obtained ismore compact and suitable for the simulation of, for example, dynamicsystems in real time.
The design of a fork-lift truck
Althoughthe aim of the thesis was the development of dynamic models for rigidsolid systems, the philosophy of its implementation means that theproposed thesis can be easily extended to combined rigid-flexiblesystems.
The implemented system can also be applied in the realtime simulation of dynamic systems. In this regard, the research teamat the Public University of Navarra is currently working with3D_Mec-MatLab to develop a dynamic model for a fork-lift truck thatinteracts with a virtual reality system. In this case, the dynamicmodel has to be put forward in such a way that the dynamic equationscan be resolved at the same time as the user of the virtual realityprogramme carries out certain operations (activating steering wheel andso on).
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