By Edward J. Haug (auth.), Werner Schiehlen (eds.)

The German learn Council (DFG) determined 1987 to set up a national 5 12 months examine undertaking dedicated to dynamics of multibody structures. during this venture universities and examine facilities cooperated with the target to increase a normal pur­ pose multibody approach software program package deal. this idea presents the chance to exploit a modular constitution of the software program, i.e. varied multibody formalisms might be mixed with various simulation programmes through standardized interfaces. For the DFG venture the database RSYST used to be selected utilizing usual FORTRAN seventy seven and an item orientated multibody method datamodel used to be outlined. The undertaking incorporated • learn at the basics of the tactic of multibody structures, • recommendations for brand new formalisms of dynamical research, • improvement of effective numerical algorithms and • attention of a strong software program package deal of multibody platforms. those ambitions required an interdisciplinary cooperation among arithmetic, compu­ ter technological know-how, mechanics, and keep watch over idea. ix X After a rigorous reviewing approach the subsequent examine associations participated within the venture (under the accountability of top scientists): Technical collage of Aachen (Prof. G. Sedlacek) Technical collage of Darmstadt (Prof. P. Hagedorn) collage of Duisburg M. Hiller) (Prof.

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1, 0] go go body dmass 0 . 478 mframe 'CK' [0 . , link BAR1 BAR3 -- bar 3 is identical to bar 1 J interact -- detine interactions between parts new JREV1 = interact connect apart='IHERTIAL', atrame='F1' btrame=' ' bpart='BAR1' go member rev2 -- revolute joint new joint 3 aaxis 3 baxis torque 'TORQUE' go go go go 1 -- second bar (parametrized) new BAR2 = rigid trame new F3 = point sorigin = [' ', '12', ' ' ] go new CK = point sorigin = [' ', 'CK2', ' '] go go body 'K2' smass mtrame 'CK' J J 'J2' [I J2' sinertia ' '] 'CK' itrame go go go new JREV2 = interact connect apart='IHERTIAL', aframe='F4' bframe=' ' bpart='BAR3' go member new joint = revolute -- revolute joint aaxis = 3 baxis = 3 go go go new JSPBERE = interact connect apart='BAR3', atrame='F2' btrame='F3' bpart='BAR2 go member -- spherical joint sphere, go new joint go go new JUHIV = interact connect apart='BAR1', atrame='F2' bpart='BAR2', btrame=' ' go member new joint = universe -- universal joint aaxis = 3 baxis = 1 go go go w '-" 36 6 Implementation of the Data Model The object-oriented data model for multibody systems was implemented, as described in [3], by the Computer Center of the University of Stuttgart (RUS) using RsYST.

In Figure 3, every frame is connected with its corresponding reference frame by a dashed line with an arrow. By definition, the frame reference topology on a part is always a tree structure with the part reference frame as the root . Parts, frames, and interaction elements are identified in the same way by unique names. The name of a part or an interaction element must be unique with respect to all other parts or interaction elements of the multibody system. The name of a frame has to be unique with respect to all other frames on the same part.

Tn) also defines a valid object type. The definition subtypeof(Tsup) states that a new object type is derived by inheritance from the supertype T sup and shall be replaced by the record definition 23 of type T,up· The derived object type is called subtype. See for example class rigid in Appendix A. Class rigid is a subclass of class part. Therefore, class rigid inherits all components from class part. Inheritance is used in the data model mainly for two reasons: First of all, inheritance supports the extension and modification of classes without the need to modify the source code of existing methods.

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