2015
IMAACA 2015 Proceeding
Dynamic analysis and 3D visualization of multibody systems
Authors: Vjekoslav Damic, Maida Cohodar
Abstract
3D Visualisation is a powerful tool for dynamic analysis of multibody systems such as robots. The basic idea of the paper is to develop the models of multibody systems from two points of view the dynamic and geometric. The dynamic model is based on bond graph technique and is developed using a suitable bond graphs modelling and simulation environment (BondSim). To develop 3D model in a virtual scene another program the BondSimVisual is used. It is based on VTK visualization pipeline technology. These two models interact by two-way inter process communication (IPC) based on the named pipes. Thus, two models appear as a single complex model running on the same or separate computers connected by a LAN. The attention of this paper is focused on development of visual 3D models of the multibody systems. The proposed approach is illustrated on example of a pendulum and industrial robot ABB IRB 1600.
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