Recursive Dynamics Simulator (ReDySim): A Multibody Dynamics Solver
Recursive formulations have significantly helped in achieving real-time computations and model-based control laws.Recursive Dynamic Simulator (ReDySim) is a MATLAB-based recursive solver for dynamic analysis of multibody systems.ReDySim delves upon the Decoupled Natural Orthogonal Complement (DeNOC) approach originally developed for serial-chain manipulators.In order to perform the dynamic analyses in ReDySim, there is no need of creating model in software environment as in the other commercial software.Only the input parameters have to be specified in MATLAB environment.ReDySim also has capability to incorporate any control algorithm with utmost ease.In this context, the capabilities of ReDySim for solving open-loop tree-type and closed-loop systems are shown by examples of robotic gripper, KUKA KR5 industrial manipulator and four-bar mechanism.ReDySim can be downloaded for free from http://www.redysim.co.nr and can be used almost instantly.
Suril V. Shah Paramanand V. Nandihal Subir K. Saha
Department of Mechanical EngineeringMcGill University817 Sherbrooke St.,Montreal,QC H3A0C3,Canada Department of Mechanical EngineeringIndian Institute of Technology,New Delhi - 110016,Delhi,India Department of Mechanical Engineering Indian Institute of Technology,New Delhi - 110016,Delhi,India
国际会议
上海
英文
1-10
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）