초록 ▼

Method and apparatus for simulating a multibody system on a computer. The invention provides for inputting into the computer a mathematical description of each body in the multibody system, specifying into the computer a force to act on one of the bodies, formulating a Jacobian matrix, solving kinem

Method and apparatus for simulating a multibody system on a computer. The invention provides for inputting into the computer a mathematical description of each body in the multibody system, specifying into the computer a force to act on one of the bodies, formulating a Jacobian matrix, solving kinematics constraints in the computer, graphically displaying a result of the solution of the kinematic constraints from the computer onto an electronic display, whereupon the user can interactively input a change to the multibody system into the computer and graphically display a result of the change to the multibody system from the computer.

대표청구항 ▼

[ What is claimed is:] [1.] A method for simulating a multibody system on a computer comprising the steps:inputting into the computer a mathematical description of each body in the multibody system;specifying to the computer a plurality of constraints to act on the bodies wherein each one of the plu

[ What is claimed is:] [1.] A method for simulating a multibody system on a computer comprising the steps:inputting into the computer a mathematical description of each body in the multibody system;specifying to the computer a plurality of constraints to act on the bodies wherein each one of the plurality of constraints is mathematically represented within the computer by a constraint equation;specifying to the computer a plurality of external forces to act on the bodies;formulating a Jacobian matrix in the computer, wherein the Jacobian matrix comprises partial derivatives of the constraint equations;specifying to the computer one of a plurality of solution modes to execute to generate a configuration of the multibody system resulting from the constraints and external forces acting on the bodies, wherein the plurality of solution modes comprises:a kinematics mode using the Jacobian matrix to iteratively calculate coordinates of the bodies so that the constraint equations are solved when each one of the plurality of external forces has a zero magnitude;a dynamic mode using the Jacobian matrix to iteratively calculate coordinates of the bodies when at least one of the plurality of external forces has a non-zero magnitude; anda static force mode using the Jacobian matrix to iteratively calculate reaction forces and reaction moments required to maintain the multibody system in a static configuration when at least one of the plurality of external forces has a non-zero magnitude;detecting changes to the body descriptions, the plurality of constraints, and the plurality of forces, which are interactively input into the computer by a user during an iteration cycle, and reiterating the one of the plurality of solution modes using the changes until no further changes are detected; andgraphically displaying the configuration resulting from the one of the plurality of solution modes on an electronic display at the end of an iteration cycle.