Modeling of Overconstrained Parallel Mechanisms in Exudyn

Institut

Lehrstuhl für Angewandte Mechanik (TUM-ED)

Typ

Bachelorarbeit / Semesterarbeit /

Inhalt

experimentell / theoretisch /  

Beschreibung

An Exudyn simulation was developed to support the dimensioning of two internally parallel mechanisms for a robot shoulder joint. A static exudyn analysis provided the internal force distribution within the highly redundant parallel mechanism [1]. Since the joint model used in the simulation is highly simplified, it is necessary to assess the reliability of the resulting force predictions. For that, the modeling of overconstrained parallel mechanisms in Exudyn should be investigated.

The research question is: How can overconstrained parallel kinematic mechanisms be accurately modeled within the Exudyn framework, and which simulation parameters are most critical? For that, the working packages of the thesis are:

 • Research methodologies for modeling overconstrained parallel kinematic mechanisms within the Exudyn simulation framework.

 • Develop a minimal working example (MWE) simulation, ensuring the model architecture is suitable for future hardware implementation and validation.

 • Perform a sensitivity analysis on parameter variations to quantify the influence of individual components on the system’s global behavior. Performance metrics include internal force distribution, elastic deformation, and vibration analysis.

Please check the attached document!

Voraussetzungen

• Strong proficiency in mechanics • Ideally, experience with Python, FEM, mechanical multibody simulation • Knowing or motivation to learn Latex, citation, Git, Inkscape • A high level of self-organization

Möglicher Beginn

sofort

Kontakt

Manuel Perkhammer, M.Sc.
manuel.perkhammertum.de

Ausschreibung