COUPLING OF RIGID BODY DYNAMICS WITH STRUCTURAL MECHANICS TO INCLUDE ELASTIC DEFORMATIONS IN A REAL-TIME CAPABLE HOLISTIC SIMULATION FOR DIGITAL TWINS

摘要

The development of complex technical systems is a highly interdisciplinary process, requiring knowledge from various disciplines. To manage all facets of technical systems, holistic Virtual Testbeds are used as central simulation frameworks, providing cross-domain simulation capabilities. To realize these simulation capabilities, simulation algorithms have to be coupled adequately. Within our work, we present a new, highly efficient coupling of rigid body dynamics (RBD) and structural mechanics. The approach applies the transfer matrix method for the determination of the structural response of a system and is currently suited to beam structures. The real-time capabilities of this approach are pointed out and a robotics application is presented.