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Modeling of Multibody Systems in Omola

Anell, Per (1994) In MSc Theses
Department 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:
author
Anell, Per
supervisor
organization
year
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},
  keyword      = {modeling,simulation,robotics,mechanics},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Modeling of Multibody Systems in Omola},
  year         = {1994},
}