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Dynamic simulation of the CAD model in SimMechanics with multiple uses

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dc.title Dynamic simulation of the CAD model in SimMechanics with multiple uses en
dc.contributor.author Zátopek, Jiří
dc.contributor.author Úředníček, Zdeněk
dc.contributor.author Machado, José
dc.contributor.author Sousa, João
dc.relation.ispartof Turkish Journal of Electrical Engineering and Computer Sciences
dc.identifier.issn 1300-0632 Scopus Sources, Sherpa/RoMEO, JCR
dc.date.issued 2018
utb.relation.volume 26
utb.relation.issue 3
dc.citation.spage 1278
dc.citation.epage 1290
dc.type article
dc.language.iso en
dc.publisher Turkiye Klinikleri Journal of Medical Sciences
dc.identifier.doi 10.3906/elk-1712-217
dc.subject Model-based design en
dc.subject dynamics en
dc.subject simulation en
dc.subject Simscape en
dc.subject SimMechanics en
dc.subject computer-aided design en
dc.subject motion control en
dc.description.abstract When designing a mechatronic system, several steps are taken into account. One of the main steps is the design of a CAD model representing the physical part of the system, and another major point is the development of the mathematical model necessary for the respective controller design. This paper combines both design steps and shows the advantages of using this approach. First, a CAD model is created considering the kinematic and dynamic behavior of the system as well as respective material properties. This CAD model is, in parallel, used for both purposes: as the main basis for developing a mathematical model that will be used for definition of control laws and appropriate system controllers, and also to generate a physical model as result of exporting to MATLAB/Simulink (Simscape/SimMechanics library) in order to simulate the system behavior. This translation does not consider only the standard CAD model export to the SimMechanics library when forces and torques between links are clearly defined, but also the correct way to add corresponding limiting forces/torques. When comparing the behavior of the physical model and the mathematical model, it is important to obtain similar results, especially when it is necessary to perform some simplifications of a mathematical model, as happens in the context of nonlinear systems control. All these issues are discussed in this paper and the obtained simulation results for both models are similar, which confirms the proposed approach. © TUBITAK. en
utb.faculty Faculty of Applied Informatics
dc.identifier.uri http://hdl.handle.net/10563/1008063
utb.identifier.obdid 43877240
utb.identifier.scopus 2-s2.0-85048222924
utb.identifier.wok 000434009500013
utb.source j-scopus
dc.date.accessioned 2018-07-27T08:47:42Z
dc.date.available 2018-07-27T08:47:42Z
dc.rights Attribution 4.0 International
dc.rights.uri https://creativecommons.org/licenses/by/4.0/
dc.rights.access openAccess
utb.contributor.internalauthor Zátopek, Jiří
utb.contributor.internalauthor Úředníček, Zdeněk
utb.wos.affiliation [Zatopek, Jiri; Urednicek, Zdenek] Tomas Bata Univ Zlin, Fac Appl Informat, Dept Automat & Control Engn, Zlin, Czech Republic; [Machado, Jose; Sousa, Joao] Univ Minho, Sch Engn, Dept Mech Engn, Azurem Campus, Guimaraes, Portugal
utb.scopus.affiliation Department of Automatic and Control Engineering, Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic; Department of Mechanical Engineering, School of Engineering, University of Minho, Azurém Campus, Guimarães, Portugal
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