Modeling of Multibody Systems in Omola
(1994) In MSc ThesesDepartment of Automatic Control
- Abstract
- A library of Omola models for modeling and simulation of mechanical multibody systems in three dimensions has been developed. It contains common basic mechanical components such as springs and joints of different kinds. Omola is an object-oriented modeling language and supports flexability. The modularization and inheritance concepts supports easy modification of models. The library contains abstract classes from which new model components are easy to derive. Hence, the library developed offers an easy way of modeling complex multibody system in three dimensions. For model development and simulation of Omola models there is an environment called Omsim. Modeling and simulation of mechanical multibody systems in Omola/Omsim are discussed. As... (More)
- A library of Omola models for modeling and simulation of mechanical multibody systems in three dimensions has been developed. It contains common basic mechanical components such as springs and joints of different kinds. Omola is an object-oriented modeling language and supports flexability. The modularization and inheritance concepts supports easy modification of models. The library contains abstract classes from which new model components are easy to derive. Hence, the library developed offers an easy way of modeling complex multibody system in three dimensions. For model development and simulation of Omola models there is an environment called Omsim. Modeling and simulation of mechanical multibody systems in Omola/Omsim are discussed. As a major application a Manutec r3 robot manufactured by Manutec, a Siemens subsidary, is modeled and simulated. The multibody structure of the robot is modeled in a natural way and connected to drive trains, motors ans controller structure. The complete model is detailed and include nonlinearities such as friction and backlash. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8848958
- author
- Anell, Per
- supervisor
- organization
- year
- 1994
- type
- H3 - Professional qualifications (4 Years - )
- subject
- keywords
- modeling, simulation, robotics, mechanics
- publication/series
- MSc Theses
- report number
- TFRT-5516
- ISSN
- 0280-5316
- language
- English
- id
- 8848958
- date added to LUP
- 2016-03-25 12:07:08
- date last changed
- 2016-03-25 12:07:08
@misc{8848958, abstract = {{A library of Omola models for modeling and simulation of mechanical multibody systems in three dimensions has been developed. It contains common basic mechanical components such as springs and joints of different kinds. Omola is an object-oriented modeling language and supports flexability. The modularization and inheritance concepts supports easy modification of models. The library contains abstract classes from which new model components are easy to derive. Hence, the library developed offers an easy way of modeling complex multibody system in three dimensions. For model development and simulation of Omola models there is an environment called Omsim. Modeling and simulation of mechanical multibody systems in Omola/Omsim are discussed. As a major application a Manutec r3 robot manufactured by Manutec, a Siemens subsidary, is modeled and simulated. The multibody structure of the robot is modeled in a natural way and connected to drive trains, motors ans controller structure. The complete model is detailed and include nonlinearities such as friction and backlash.}}, author = {{Anell, Per}}, issn = {{0280-5316}}, language = {{eng}}, note = {{Student Paper}}, series = {{MSc Theses}}, title = {{Modeling of Multibody Systems in Omola}}, year = {{1994}}, }