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Dynamics and control of separable coupled rigid body systems
Kinda Khalaf1, Dongming Gan2, Hooshang Hemami3
1Department of Biomedical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE.
Robotics and Biomimetics
|November 25, 2017
Summary
This study introduces a new method for analyzing separable coupled rigid body systems, simplifying complex dynamics. This approach offers efficient computational solutions for biomechanics and robotics.
Area of Science:
- Mechanical Engineering
- Robotics
- Biomechanics
Background:
- Constrained rigid body systems present significant challenges in dynamics analysis.
- Separable coupled systems offer a unique approach to simplify these dynamics through interaction forces.
Purpose of the Study:
- To explore the dynamics of separable coupled rigid body systems.
- To investigate the mechanics and consequences of dimensionality and complexity reduction in these systems.
- To present a novel extension to the dynamics of constrained rigid bodies.
Main Methods:
- Formulation of the basic hypothesis for separable coupled systems.
- Development and analysis of a mechanical biped model using system theoretical concepts and simulations.
- Systematic and modular formulation for computational efficiency.
Main Results:
- Demonstrated reduction in dimensionality and complexity for coupled rigid body systems.
- Successful analysis of a biped model, validating the proposed methodology.
- The formulation is computationally efficient and versatile.
Conclusions:
- The presented formulation offers a novel and efficient approach to the dynamics of constrained rigid bodies.
- This methodology has broad applications in human neuro-musculoskeletal studies, robotics, and biomechanics.
- Computer simulations confirm the feasibility and effectiveness of the proposed dynamics analysis.
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