Literature
Literature
Library
Mechanics/MultiBody/UsersGuide
Description
- Technical details of this library are described in the paper:
- Otter M., Elmqvist H., and Mattsson S.E.:
- The New Modelica MultiBody Library. Modelica 2003 Conference, Linköping, Sweden, pp. 311-330, Nov. 3-4, 2003. Download from: https://www.modelica.org/events/Conference2003/papers/h37_Otter_multibody.pdf
- The method how to describe drive trains with 1-dimensional mechanics
and to mount them on 3-dimensional components without neglecting
dynamical effects is described in:
- Schweiger C., and Otter M.:
- Modelling 3-dim. Mechanical Effects of 1-dim. Powertrains. Modelica 2003 Conference, Linköping, Sweden, pp. 149-158, Nov. 3-4, 2003. Download from: https://www.modelica.org/events/Conference2003/papers/h06_Schweiger_powertrains_v5.pdf
- The method to solve a certain class of kinematic loops
analytically is based on:
- Woernle C.:
- Ein systematisches Verfahren zur Aufstellung der geometrischen
Schliessbedingungen in kinematischen Schleifen mit Anwendung
bei der Rückwärtstransformation für
Industrieroboter.
Fortschritt-Berichte VDI, Reihe 18, Nr. 59, Duesseldorf: VDI-Verlag 1988, ISBN 3-18-145918-6.
- Hiller M., and Woernle C.:
- A Systematic Approach for Solving the Inverse Kinematic
Problem of Robot Manipulators.
Proceedings 7th World Congress Th. Mach. Mech., Sevilla 1987.