SPACAR

Flexible Multibody Modelling

for Mechatronic Design

A finite element based approach

Note: This web site is currently under construction. In spring 2010 we expect to provide you information about the software and its (commercial) availability. Please return to this site at that moment. Or for the inpatient people, have a look at the web site of the University of Twente. More specifically, you can find e.g. a tutorial on how to use the software for mechatronica design. The software is also partly available from that site, though at the moment without the user-friendly Graphical User Interface.

SPACAR is a modelling and simulation tool with interfaces to Matlab® and Simulink®. It offers an efficient platform to create and analyse accurate prototype models of the mechanical part in a mechatronic design. Such models consist of a small number of elements and the relevant non-linear system dynamics can be captured with only a few degrees of freedom. A prototype model can be built intuitively in minutes using the Graphical User Interface (GUI). Within just two mouse clicks all element parameters can be changed.
SPACAR can be used for several types of analyses:

· Forward and inverse non-linear kinematic and dynamic analysis.

· Computation of stationary and equilibrium solutions.

· Linearization.

· Natural frequencies and mode shapes.

· Buckling analysis.

· Linearized state-space models with arbitrary inputs and outputs (positions, velocities, accelerations, forces).

Scientific development and applications: Prof. dr. ir. J.B. Jonker Dr. ir. R.G.K.M. Aarts Dr. ir. J.P. Meijaard Dr.ir. J. van Dijk University of Twente, Enschede (NL) Department of Mechanical Automation

Sales and support: H. Schrama HWS Techniek Lakerstraat 30A 5613 ES Eindhoven Phone: +31 (0)40 2435999

The example below illustrates the models and simulation results of a six degrees-of-freedom (6-DOF) precision manipulator. The concept has been defined as a SPACAR model with a relatively small number of elements. Analysis of the natural frequencies and mode shapes of these models provides insight in the relevant dynamic behaviour including the (configuration dependent) low-frequent motion as well as the (unwanted) high-frequency modes. From linearized state-space models Bode plots are obtained e.g. for control system synthesis. Closed-loop performance is predicted from simulations.

^Conceptual 6-DOF model in the SPACAR GUI	^CAD drawing
^SPACAR mode shape analysis	^Experimental set-up
^Bode plot from SPACAR input-output analysis	^Closed-loop simulations compared with experimental data