| Popis: |
The paper presents the main features of the AUTODYN programme developed in Louvain-La-Neuve. This multi-purpose programme, based on the virtual work principle, can be used for vehicle dynamics as well as in robotics and for other mechanical systems. The generalized coordinates describe the relative motion in the joints between bodies. A library of joints, including rail-wheel connections, with their corresponding interaction models is available. Moreover the joints can be restricted by means of user-defined constraints and some of their coordinates can have a prescribed motion. Constraints resulting from closed loops are automatically generated and the final form of the equations is obtained by using the Lagrange multipliers technique and a coordinate partioning method. |
