Dynmanto: A Matlab Toolbox for the Simulation and Analysis of Multibody Systems
Publikationstyp
Conference Paper
Date Issued
2020-08
Sprache
English
Institut
TORE-URI
Volume
2
Article Number
V002T02A005
Citation
ASME Design Engineering Technical Conference 2020
Contribution to Conference
Publisher DOI
Scopus ID
ISBN of container
978-0-7918-8391-4
The Dynamic Modeling and Analysis Toolbox DYNMANTO is an acedemic MATLAB code which allows the modeling, simulation and sensitivity analysis of spatial multibody systems. The kinematics of rigid and flexible bodies is described by the floating frame of reference formulation and the body properties are provided by standard input data files. In this way the evaluation of the equations of motion is computationally efficient and an arbitrary parameterization of the system can be achieved. The latter is important in the automated adjoint sensitivity analysis of multibody systems, which yields gradient information for system analyses, parameter identifications or gradient-based optimizations. The capabilities of DYNMANTO are demonstrated by the application examples of a flexible two-arm manipulator and Chebyshev's Lambda Mechanism.
DDC Class
600: Technology