Modeling and Solution Methods for Efficient Real-Time Simulation of Multibody Dynamics

Current simulation tools for multibody dynamics are not problem dependent, they use the same modeling process to all cases regardless of their characteristics. In addition, real-time simulation of small multibody systems is achievable by existing simulation tools, however, real-time simulation of large and complex systems is not possible with existing methods. This is a challenge that needs to be addressed before further advances in mechanical simulation with hardware-in-the-loop and man-in-the-loop, as well as virtual prototyping are made possible. This paper addresses the issue of how the modeling process - dependent versus independent co-ordinates, and descriptor form versus state-space form of the equations of motion - affects the dynamic simulation of multibody systems and how it could be taken into account to define the concept of intelligent simulation. With this new concept all the factors involved in the simulation process modeling, equations, solution, etc. - are chosen and combined depending upon the characteristics of the system to be simulated. It is envisioned that this concept will lead to faster and more robust real-time simulators.