Original Multibody Algorithm
InovaLigo has developed its own Multibody Algorithm, enabling the use of Multibody Dynamics without relying on commercial tools.
Concept
Most commercially available Multibody Dynamics tools are black-box systems, preventing users from accessing the underlying equations. This limitation can become a bottleneck when developing advanced control algorithms or conducting analytical approaches. Additionally, the continuous use of these commercial tools incurs high costs, placing an unnecessary financial burden on our users. To address these issues, we have aimed to realize Multibody Dynamics without dependency on third-party products.
Our tool
Our algorithm is independent of any specific environment. It functions seamlessly in MATLAB, C, C++, Python, and other platforms. However, at present, we primarily use Simulink as the modeling environment because it offers convenient tools for assembling models. Importantly, we do not rely on any specific Toolbox or Blockset. Simulink is used solely for visually representing the dependencies between joints and bodies using block connections, rather than for computation.
Function: Conversion of SimscapeTM MultibodyTMModels
As illustrated in the diagram below, our system analyzes the dependency structure of each block in a Simscape™ Multibody™ model and generates an equivalent multibody model.
⚠ Note: The generation of a multibody model does not require Simscape™ Multibody™. Instead, our system is capable of converting models that were initially built using this tool.
Feature: Intuitive Modeling
Similar to SimscapeTM MultibodyTM, our approach allows for intuitive modeling.
References
[1] H. Tajima, Fundamentals of Multibody Dynamics – Formulation of 3D Equations of Motion, Tokyo: Tokyo Denki University Press, 2006.