daVinci Code: A Multi-Model Simulation and Analysis Tool for Multi-Body Systems
Berard, S.
Trinkle, J.
Nguyen, B.
Roghani, B.
Fink, J.
Kumar, V.
Dept. of Comput. Sci., Rensselaer Polytech. Inst., Troy, NY;
This paper appears in: Robotics and Automation, 2007 IEEE International Conference on
Publication Date: 10-14 April 2007
On page(s): 2588-2593
Location: Roma,
ISSN: 1050-4729
ISBN: 1-4244-0601-3
INSPEC Accession Number: 9528586
Digital Object Identifier: 10.1109/ROBOT.2007.363855
Current Version Published: 2007-05-21
Abstract
This paper discusses the design and current capabilities of a new software tool, dVC, capable of simulating planar systems of bodies experiencing unilateral contacts with friction. Since different problems require different levels of accuracy, dVC provides user-selectable body types (rigid or locally-compliant), motion models (first-order, quasi-static, dynamic), and several state-of-the-art time-stepping methods. One can also choose to include friction between each body and the plane of motion. To support optimal and robust part design, dVC also allows on-the-fly changes to parameters of the geometric and physical models. The results obtained for three representative planar problems are presented: the design of a passive part-orienting device, the planning of a mesoscale assembly operation, and the design of a grasp strategy.
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