daVinci Code: A Multi-Model Simulation and Analysis Tool for Multi-Body Systems

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.

Authors

• Stephen Berard
• Jeffrey C. Trinkle
• Binh Nguyen 0002
• Ben Roghani
• Jonathan Fink
• Vijay Kumar 0001

Keywords

• Analytical models
• Friction
• Computational modeling
• Computer simulation
• Software tools
• Solid modeling
• Legged locomotion
• Robotic assembly
• Libraries
• Robotics and automation
• Multibody System
• Multi-model Simulations
• Da Vinci Code
• Path Planning
• Geometric Model
• Motion Model
• Planar System
• Electrostatic Interactions
• Dynamic Model
• Differential Equations
• Step Size
• Contact Point
• Equations Of Motion
• Rigid Body
• Friction Coefficient
• Application Programming Interface
• Friction Force
• Contact Force
• Normal Force
• Local Deformation
• Complementarity Problem
• Collision Detection
• Dry Friction
• Surface Friction
• Quasi-static Model
• Frictional Contact
• Force Control
• Inertial Forces