Werner Schiehlen (Editor) Multibody Systems Handbook With 165 Figures Springer-Verlag Berlin Heidelberg NewY ork London Paris Tokyo Hong Kong Dr.-Ing. Werner Schiehlen Full Professor of Mechanics Institute B of Mechanics University of Stuttgart Pfaffenwaldring 9 7000 Stuttgart 80 FRG ISBN 978-3-642-50997-1 ISBN 978-3-642-50995-7 (eBook) DOI 10.1007/978-3-642-50995-7 Library of Congress Cataloging-in-Publication Data Multibody systems handbook/Werner Schiehlen (editor). ISBN 978-3-642-50997-1 I. Dynamics--Computer programs. I. Schiehlen, W. O. (Werner 0.) QA845.M86 1990 531'.11'0113--dc20 8926255 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights oft ranslation, reprinting, re-use of illustrations, broadcasting, reproduction on microfilms or in other ways, and storage in data banks. Duplication of this publication or parts thereof is only permitted under the provisions ofthe German Copyright LawofSeptember9, 1965, in its version ofJune 24,1985,and a copyright fee must always be paid. Violations fall under the prosecution act of the German Copyright Law. © Springer-Verlag Berlin Heidelberg 1990 Softcover reprint of the hardcover 1st edition 1990 The use of registered names, trademarks, etc. in this publication does not imply, even in the absence ofa specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Offsetprinting: Color-Druck Dorfi GmbH, Berlin; Bookbinding: Liideritz & Bauer, Berlin 216113020 543210 Preface Dynamics of multibody systems is of great importance in the fields of robotics, biomechanics, spacecraft control, road and rail vehicle design, and dynamics of machinery. Many research problems have been solved and a reasonable number of multibody formalisms has been developed in the last two decades. They were discussed especially during a IUTAM symposium in 1977 in Munich and a IUTAM/IFToMM Symposium in 1985 in Udine. A considerable number of computer codes based on these formalisms is now available. with the Multibody Systems Handbook it is intended to collect software systems for multibody system dynamics which are well established and have found acceptance in the users community. The Handbook will aid the reader in selecting the software system which is most appropriate to his needs. Altogether 17 research groups contributed with their programs or software systems to the Handbook. A compact summary of important capabilities of these software systems is presented in tabular form. It has to be mentioned that during the preparation of the Handbook all contributors agreed to deal with two typical test examples, a planar mechanism and a spatial robot. Thus, it is very easy to compare the results and to identify more clearly the advantages of one or the other formalism. The Handbook is a really international collection of programs and software. Therefore, the editor is indebted to all contributors for the excellent cooperation overcoming all borders. The editorial work of the Handbook was supported by the VI Institute B of Mechanics, University of stuttgart. In particular, I would like to thank Dipl.-Ing. Gunter Leister for his valuable help and Mrs. Regine Weber for all the secretarial work. Furthermore, thanks are due to the Springer-Verlag for the encouraging and efficient cooperation. stuttgart, September 1989 Werner Schiehlen Table of Contents Introduction 1 overview 3 General remarks 3 Tables of information 6 Test Examples 10 Descriptions of Codes 20 NUBEMM - Theory and application of the MBS program 21 SYM - Program package for computer-aided generation of optimal symbolic models of robot manipulators ..... 37 CAMS - A graphical interactive system for computer simulation and design of multibody systems .•..•.•... 61 AUTOLEV - A new approach to multibody dynamics 81 UCIN-DYNOCOMBS - Software for the dynamic analysis 'of constrained multibody systems ••..•.•••••••••••••• 103 SPACAR - Computer program for dynamic analysis of flexible spatial mechanisms and manipulators 123 NBOD & DISCOS - Dynamic interaction simulation of controls and structure 145 DADS - Dynamic Analysis and Design System 161 NEWEUL - Software for the generation of symbolical equations of motion • • • • • • • • • • • • • • . • • • • • • • • • • • • • • • • •• 181 MEDYNA - An interactive analysis and design program for geometrically linear and flexible multibody systems ••••••••••••••••••••••••••••.•••••• 203 AUTODYN & ROBOTRAN - computer programmes 225 VIII SIMPACK - A computer program for simulations of large-motion multibody systems ••••••••••••.••••••••• 265 COMPAMM - A simple and efficient code for kine- matic and dynamic numerical simulation of 3-D multibody systems with realistic graphics 285 DYMAC & DYSPAM - Programs for the dynamic analysis and simulation of planar mechanisms & multibody systems 305 MESA VERDE - A general-purpose program package for symbolical dynamics simulations of multibody systems 341 ADAMS - Multibody system analysis software 361 PLEXUS - Software for the numerical analysis of the dynamical behavior of rigid and flexible mechanisms 403 Contributors and Distributors ••••••••••••••••.••••••••••• 427 Index • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • •• 431 Introduction In the design of mechanical systems, such as vehicles, machinery or robots, it is now customary to use computer simulations to observe the dynamic response of the system being designed. This form of computer-aided design drastically reduces the need to construct and test prototypes. However, the equations of motion of the system must first be obtained. Multibody systems are characterized by rigid and/or flexible bodies with inertia and springs, dampers and servomotors without inertia, interconnected by rigid bearings or supports. Furthermore, friction and contact forces may be included. The dynamics of multibody systems are primarily characterized by their linear and/or nonlinear equations of motions. In addition the equations of reaction are needed for strength considerations. various computational methods and computer formalisms for mathematical modeling and simulation of complex multibody systems have been developed over the past two decades. Since a number of these software systems is well established and has found acceptance with users we feel that it is time to collect them in a handbook for bridging the gap between system designers and a possibly wide user community. As is true of handbooks in general, the authors can not treat their topics exhaustively. Each writer is in favour of his own view of the subject. Therefore, the overview in chapter 2 summarizes the most important features of the codes included in the Handbook. Of course, the reader has to proceed to the description chapter to get enough information for selecting the software which is most appropriate to his problems. 2 In particular, the test examples presented in chapter 3, offer the unique opportunity to compare not only formalisms and software systems in theory but also in practice. Thus, the test examples may be used as bench marks for formalisms and codes being improved or developed in the future, too. Typically, the description given in chapter 4 provides many details of software systems as they appear to the user and should motivate the application of these systems in problem solving. Of course, the description will also provide a basis for users to compare different software and to give advice to select the software which fits his needs most appropriate. The contributions do not concentrate on details of the specific programming technique. They will include, however, a description of the various fields of application. up-to-date information is given for scientists working in the field of multibody system dynamics. For more detailed information the contributors should be contacted a list of whom is presented in chapter 5. Further, the distributors or marketing organiziations, respectively, are given, too. ()vervie~ The overview summarizes the most important features of the codes or software systems, respectively, in writing and by tables. Altogether 20 codes are considered. The descriptions of the formalisms and codes given in chapter 4 are to a certain extent inhomogeneous. Therefore, in an overview, the typical features of the codes are summarized in tabular form. This enables the reader to get quick and comparable information. The information is compiled from a standardized software description form prepared by the contributors to the Handbook. For the overview the same order is used as in the list of contributors, chapter 5, accordinding to the date of the receipt of the contributions by the editorial office. This order does not express any rating. Topology of Multibody Systems Chain and tree structured systems can be handled by all codes, and quite a number deals with closed kinematical loops. All but one codes are designed for planar and spatial multibody systems.