Andreas Hofmann
Bosch Rexroth AG, Lohr am Main, Germany
Lars Mikelsons
Bosch Rexroth AG, Lohr am Main, Germany
Ines Gubsch
TU Dresden, Chair of Construction Machines and Conveying Technology, Germany
Christian Schubert
TU Dresden, Chair of Construction Machines and Conveying Technology, Germany
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http://dx.doi.org/10.3384/ecp14096949Published in: Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden
Linköping Electronic Conference Proceedings 96:99, p. 949-957
Published: 2014-03-10
ISBN: 978-91-7519-380-9
ISSN: 1650-3686 (print), 1650-3740 (online)
In this paper an approach for handling collision within the Modelica MultiBody library is presented. Therefore; a short overview about collision consideration for multibody simulation is given. Different methods for calculating the contact reactions are discussed and their potentials for implementation in a free Modelica library are deliberated. Furthermore the implementation of this collision library; using a penalty-based collision approach and the Bullet Physics Library for collision detection is described. The application is demonstrated in examples and limitations are brought up. Although some drawbacks restrict usability; the library can be used to increase the level of detail for multibody simulation models.
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