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 MatlabŪ and SimulinkŪ. 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 |