15 Fakultätsübergreifend / Sonstige Einrichtung
Permanent URI for this collectionhttps://elib.uni-stuttgart.de/handle/11682/16
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Item Open Access Closing conditions and reaction forces of multibody systems(1992) Schiehlen, Werner; Blajer, WojciechOver the years a considerable effort has been focused on the development of methods and computational algorithms for mathematical modelling and simulation of multibody systems. The methods are mainly concerned with effective formulation and numerical treatment of the dynamical equations of a general multibody system.Item Open Access Optimierung von Konstruktionsparametern am Beispiel ungefederter Fahrzeuge(1993) Langenbeck, Bernhard; Leister, Günter; Schiehlen, Werner; Kutzbach, Heinz-DieterAm Beispiel eines Ackerschleppers wird ein Verfahren zur Optimierung dynamisch beanspruchter Konstruktionen vorgestellt, wobei das dynamische Verhalten mit Mehrkörpermodellen approximiert wird. Die Autoren beschreiben das Ersatzsystem und die Bewertungskriterien: die Optimierung läuft weitgehend automatisiert ab.Item Open Access A projective criterion to the coordinate partitioning method for multibody dynamics(1994) Blajer, Wojciech; Schiehlen, Werner; Schirm, WalterThe paper discusses some developments in the coordinate partitioning method for the dynamic analysis of constrained/closed-loop multibody systems. First, the method is reformulated to a more compact form. Then, a simple and reliable projective criterion for choosing the best coordinates from the redundant ones is proposed, and some advantages are pointed out that may arise in the method by applying inverse kinematics algorithms. Finally, the problem of determination ofphysical reactions of constraints and closing conditions is discussed. A four-bar linkage mechanism serves for an illustration of some aspects of the paper.Item Open Access Local and global stability of a piecewise linear oscillator(1992) Kleczka, Michael; Kreuzer, Edwin; Schiehlen, WernerMachines and mechanisms with moving parts, subjected to periodic excitation, often show unexpected dynamic behaviour, and impacts due to their connection clearances may occur. The most simple mathematical model is a one degree-of-freedom nonlinear oscillator governed by a piecewise linear symmetric function to describe the restoring force. The systems response, which can be quite rich and complicated, is described in detail. Modern methods for a combined analytical and numerical analysis are used to study local and global bifurcation conditions, coexisting solutions and their associated domains of attraction.Item Open Access On controlling robots with redundancy in an environment with obstacles(1994) Ding, Han; Schiehlen, WernerThis paper presents a method to solve the problem of obstacle avoidance for a redundant manipulator so that it closely tracks the desired end-effector trajectory and simultaneously avoids workspace obstacles. The proposed method introduces the describing function J to indicate whether collision occurs between the robot and obstacles. The obstacle avoidance task is achieved by formulating the performance criterion J > Jmin (Jmin represents the minimal distance between the redundant robot and obstacles), and by using configuration control to ensure that this criterion is satisfied. The calculation of J function is only related to some vertices which are used to generate and model the robot and obstacles, and the computational times are nearly linear with the total number of vertices. The configuration control algorithm which achieves end-effector motion and obstacle avoidance does not require either a complex dynamic model or complicated inverse kinematics transformations of the robot. Several simulation cases for a four-link planar manipulator are given to prove that the proposed collision-free trajectory planning scheme is efficient and practical.Item Open Access Progress in integrated system analysis and design software for controlled vehicles(1993) Kortüm, Willi; Schiehlen, Werner; Hoffmann, M.This paper represents one of the results of the second Herbertov Workshop in 1992 on "Research Issues in Automotive Integrated Chassis Control Systems". It was decided to bring together engineers who are actively involved in current software developments to report on the progress in integrated system analysis and design software for controlled vehicles. Therefore, after mentioning some of the principal requirements for such software, the state-of-the-art is summarized. Promising recent research and software developments are described and the application of some of these concepts to an actively controlled vehicle with preview is discussed. Throughout the article the ideas of concurrent analysis and design strategies are emphasized.Item Open Access Fahrzeugdynamik : eine Einführung in die Dynamik des Systems Fahrzeug - Fahrweg(1993) Popp, Karl; Schiehlen, WernerDie Fahrzeugdynamik befaßt sich mit der mechanischen Modellierung sowie der mathematischen Beschreibung und Analyse von Fahrzeugsystemen. Ziel dieses Buches ist es, eine methodenorientierte Einführung in die Dynamik landgestützter Fahrzeugsysteme zu geben. Dabei werden nicht die einzelnen Fahrzeugarten wie Kraftfahrzeuge, Schienenfahrzeuge oder Magnetschwebebahnen nebeneinander betrachtet, sondern die allen Fahrzeugsystemen gemeinsamen dynamischen Probleme unter einheitlichen Gesichtspunkten behandelt. Dies ist durch eine systemtheoretische Betrachtungsweise möglich. Die Bereitstellung aussagekräftiger mathematischer Modelle erlaubt Bewegungssimulationen und Parameterstudien lange bevor der erste Prototyp gebaut wird. Der Trend zu kürzeren Entwicklungszeiten und eine große Variantenvielfalt verlangen heute vom Ingenieur umfassende Berechnungen, für die dieses Buch die Grundlagen vermitteln soll.