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Robotran: a Powerful Symbolic Gnerator of Multibody Models : Volume 4, Issue 1 (02/05/2013)

By Docquier, N.

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Book Id: WPLBN0003984018
Format Type: PDF Article :
File Size: Pages 21
Reproduction Date: 2015

Title: Robotran: a Powerful Symbolic Gnerator of Multibody Models : Volume 4, Issue 1 (02/05/2013)  
Author: Docquier, N.
Volume: Vol. 4, Issue 1
Language: English
Subject: Science, Mechanical, Sciences
Collections: Periodicals: Journal and Magazine Collection, Copernicus GmbH
Publication Date:
Publisher: Copernicus Gmbh, Göttingen, Germany
Member Page: Copernicus Publications


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Fisette, P., Docquier, N., & Poncelet, A. (2013). Robotran: a Powerful Symbolic Gnerator of Multibody Models : Volume 4, Issue 1 (02/05/2013). Retrieved from

Description: Université catholique de Louvain, Center for Research in Mechatronics, B 1348 Louvain-la-Neuve, Belgium. The computational efficiency of symbolic generation was at the root of the emergence of symbolic multibody programs in the eighties. At present, it remains an attractive feature of it since the exponential increase in modern computer performances naturally provides the opportunity to investigate larger systems and more sophisticated models for which real-time computation is a real asset.

Nowadays, in the context of mechatronic multibody systems, another interesting feature of the symbolic approach appears when dealing with enlarged multibody models, i.e. including electrical actuators, hydraulic devices, pneumatic suspensions, etc. and requiring specific analyses like control and optimization. Indeed, since symbolic multibody programs clearly distinguish the modeling phase from the analysis process, extracting the symbolic model, as well as some precious ingredients like analytical sensitivities, in order to export it towards any suitable environment (for control or optimization purposes) is quite straightforward. Symbolic multibody model portability is thus very attractive for the analysis of mechatronic applications.

In this context, the main features and recent developments of the ROBOTRAN software developed at the Université catholique de Louvain (Belgium) are reviewed in this paper and illustrated via three multibody applications which highlight its capabilities for dealing with very large systems and coping with multiphysics issues.

ROBOTRAN: a powerful symbolic gnerator of multibody models

Abedrabbo, G., Poncelet, A., Sepulveda, P., Cescotto, S., and Fisette, P.: Multibody Simulation of a Crash Test Attenuator Made of Recycled Materials, in: Proceedings of the 17th International Symposium on Plasticity & Its Current Applications, Mexico, 2011.; Bokiau, B., Poncelet, A., Fisette, P., and Docquier, N.: Multibody Model of a Grand Piano Action Mechanism Aimed at Understanding and Demystifying the Escapement Principle, in: Proceedings of the 2nd Joint International Conference on Multibody System Dynamics, Stuttgrart, Germany, 2012.; Chenut, X., Fisette, P., and Samin, J.-C.: Recursive Formalism with a Minimal Dynamic Parameterization for the Identification and Simulation of Multibody Systems. Application to the Human Body, Multibody Syst. Dyn., 8, 117–140, doi:10.1023/A:1019555013391, 2002.; Ding, J.-Y., Pan, Z.-K., and Chen, L.-Q.: Second order adjoint sensitivity analysis of multibody systems described by differential–algebraic equations, Multibody Syst. Dyn., 18, 599–617, doi:10.1007/s11044-007-9080-4, 2007.; Docquier, N., Poncelet, A., Delannoy, M., and Fisette, P.: Multiphysics Modeling of Multibody Systems: Application to Car Semi-Active Suspensions, Vehicle Syst. Dyn., 48, 1439–1460, 2010.; Eberhard, P.: Analysis and optimization of complex multibody systems using advanced sensitivity analysis methods, ZAMM Zeitschrift fur Angewandte Mathematik und Mechanik, 76, 40–43, 1996.; El Ouatouati, A., Fisette, P., and Johnson, D.: A Fully Symbolic Model of Multibody Systems Containing Flexible Plates, Nonlinear Dynamics, 18, 357–382, 1999.; Fisette, P.: Génération symbolique des équations du mouvement de systèmes multicorps et application dans le domaine ferroviaire, Ph.D. thesis, Université catholique de Louvain, 1994.; Fisette, P., Johnson, D., and Samin, J.: A Fully Symbolic Generation of the Equations of Motion of Multibody Systems containing Flexible Beams, Comput. Method. Appl. M., 142, 132–152, 1997.; Fisette, P., Postiau, T., Sass, L., and Samin, J.: Fully symbolic generation of complex multibody models, Mech. Struct. Mach., 30, 31–82, doi:10.1081/SME-120001477, 2002.; Ganovski, L., Fisette, P., and Samin, J.-C.: Piecewise Overactuation of Parallel Mechanisms Following Singular Trajectories: Modeling, Simulation and Control, Multibody Syst. Dyn., 12, 317–343, doi:10.1007/s11044-004-2532-1, 2004.; Kecskeméthy, A.: Mobile – An object-oriented tool-set for the efficient modeling of mechatronic systems, in: Proceedings of the Second Conference on Mechatronics and Robotics, 27–29 September, 27–29, 1993.; Kecskeméthy, A., Krupp, T., and Hiller, M.: Symbolic Processing of Multiloop Mechanism Dynamics Using Closed-Form Kinematics Solutions, Multibody Syst. Dyn., 1, 23–45, doi:10.1023/A:1009743909765, 1997.; Kurz, T., Eberhard, P., Henninger, C., and Schiehlen, W.: From Neweul to Neweul-M2: symbolical equations of motion for multibody system analysis and synthesis, Multibody Syst. Dyn., 24, 25–41, doi:10.1007/s11044-010-9187-x, 2010.; Maes, P., Samin, J.-C., and Pierre, W.: Multibody Systems Handbook, chap. Robotran, 246–264, Springer-Verlag, 1990.; Poncelet, A., Collard, J.-F., and Fisette, P.: Parameter Sensitivity Analysis: Symbolic Computation for Large Multibody Systems, in: Proceedings of the First Joint International Conference on Multibody System Dynamics, Lappeenranta, Finland, 2010.; Postiau, T., Sass, L., Fisette, P., and Samin, J.-C.: High-Performance Multibody Models of Road Vehicles: Fully Symbolic Implementation and Parallel Computation, Vehicle Syst. Dyn., 35, 57–83, 2001.; Raison, M., Aubin


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