about_spacar

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The SPACAR software is currently being developed at the Faculty of Engineering Technology, University of Twente, and is partly based on work carried out at the Laboratory for Engineering Mechanics, Delft University of Technology.

The computer program SPACAR is based on the non-linear finite element theory for multi-degree
of freedom mechanisms as described in Jonker’s lecture notes on the Dynamics of Machines
and Mechanisms ^{1)}. The program is capable of analysing the dynamics of planar and spatial
mechanisms and manipulators with flexible links and treats the general case of coupled large
displacement motion and small elastic deformation. The motion can be simulated by solving the
complete set of non-linear equations of motion or by using the so-called perturbation method.
The computational efficiency of the latter method can be improved further by applying modal
techniques.
In this chapter, an outline of the SPACAR package for use with MATLAB and SIMULINK is given
in the next sections. For instance, for the design of mechanical systems involving automatic
controls (such as robotic manipulators), interfaces with MATLAB [2] are provided for openloop
system analyses, Section 1.2. Open-loop and closed-loop simulations can be carried out
with blocks from a SIMULINK library, Section 1.4. A special visualization tool, SPAVISUAL, is
described in Section 1.3. Additional tools are available for using the perturbation method and
the modal techniques in SIMULINK (Section 1.5). Installation notes for SPACAR are given in
Appendix A.
A graphical user interface (GUI) for generating input files for spatial systems is available and
will be further developed. People interested in rigid planar mechanisms may consider the use
of the commercially available package SAM by ARTAS [4]. It has a nice graphical interface for
the definition of mechanisms and it provides more elements than SPACAR.

Jonker, J. B., Dynamics of Machines and Mechanisms, A Finite Element Approach,
Lecture notes, Department of Mechanical Engineering, University of Twente, vakcode
113130, October 2001.

about_spacar.1506083059.txt.gz · Last modified: 2017/09/22 14:24 by mark.naves