Multibody Dynamics Components

Multibody Dynamics Library is a collection of components made to augment the Standard Library that ship with Realtime Technologies' SimCreator software package. It includes base bodies, joints, masses and cut joints. The joints included in this collection are prismatic, revolute, cylindrical, universal, screw and spherical. You can use cut spherical joints to model closed loop systems.

You can also model complete tree systems using merges, masses and offsets. This library supports fixed and 6DOF base bodies. You can accurately model complete closed kinematic systems -- in real time.

Read Me

Click on the component name to access more detailed component information.

Demos

View double pendulum or four-bar linkage showing accuracy and flexibility of dynamics and animated results. Four-bar linkage also shows closed kinematic loops.

Double Pendulum
2.32 Mb wmv

4 Bar Linkage
1 Mb wm

Downloads

Multibody Dynamics Component Data Sheet (pdf)
Multibody Dynamics Training Slide Presentation (ppt)
SimCreator & Multibody
Dynamics Introduction (ppt)

Quick Nav

Component Library Home
Multibody Dynamics (MBD)
MBD 60 Length Vectors
Powertrain
Standard Library

Base Bodies
Earth Models a base body for multibody simulations with no degrees of freedom.	SixDOFMB Models a base body with six degrees of freedom.
Joints
CylindricalJoint Models a cylindrical joint with a one linear and one angular degree of freedom and a mass.	PrismaticJoint Models a prismatic joint with a single linear degree of freedom and a mass.
ScrewJoint Models a screw joint with a single degree of freedom and a mass.	SphericalJoint Models a spherical joint with three rotational degrees of freedom and a mass.
UniversalJoint Models a universal joint with two angular degrees of freedom and a mass.	RevoluteJoint Models both a revolute mechanism and a body with Mass and angular Inertia.
Cut Joints
CutSpherical Models a cut spherical joint.	DistCont Models a distance constraint.
Mechanisms
ForcesMergeMB Models a merging of branches of a multibody dynamics model.	MassMB Models a mass in a multibody dynamics chain with an inertia along the principle axes.
OffsetMB Models an offset in a multibody dynamics chain.	Prismatic Models a prismatic mechanism with a single linear degree of freedom
Revolute Models a revolute joint with a single rotational degree of freedom and a mass.	RotateMB Rotates the local coordinate system in a multibody dynamics chain.
Screw Models a screw mechanism with a single degree of freedom	Spherical Models a spherical joint with three rotational degrees of freedom and a mass.
TSDA Models a translational spring damper actuator.
Support
AccelOffset Calculates the acceleration at an offset.	AngleIntegrator Calculates the integral of an angular rate signal.
AngVel2EulRate Calculates the Euler angle rate based on the angular velocity.	Euler2TM Converts a set of Euler Angles into a transformation matrix.
EulRate2AngVel Converts a set of Euler Angles into a transformation matrix.	TM2Euler Calculates the angular velocity of a body given the euler angle rates.
TMTransXVector Converts a vector between coordinate systems using a transposed transformation matrix.	TMXTM Concatenates two transformation matrixes.
TMXVector Converts a vector between coordinate systems using a transformation matrix.	TransposeMatrix Calculates TM by transposing the input TMI.
ZeroForce Assigns a zero force and moment on a multibody side connector.