multibody dynamics and robotics
Research involves the development of efficient and reliable algorithms for predicting the motion of complex multibody systems. These numerical simulation methods are a valuable resource for researchers and engineers looking for new design approaches for technical solutions in robotics and dynamics.
projects:
Development of artificial muscles as actors and sensors on the basis of dielectric elastomers
Within the framework of the research work of the Bayerische Bionikzentrum, the project requested for this project aims to develop and operate energy-saving actuators modeled on natural muscle tissue and used in kinematics with multiple degrees of freedom. The focus should be on the functional principle of Dielectric Elastomer Actuators (DEA) for the construction of individual muscle cells and their linking to artificial muscles. In order to achieve the goal of an energy-efficient and energy-storing as well as flexible and highly dynamic actuator system, methods for producing the muscle stacks, microcontroller circuits for actuating the actuators, measuring principles and methods for determining joint positions, and finally simulation and control models for these actuators and kinematics must be developed become. In the long term, the described research will form the basis for a new generation of robotic solutions with a broad application spectrum from intrinsically safe service robots to highly dynamic mobile kinematics to bionic prostheses. In addition, the technology to be developed opens up the possibility of reproducing the most diverse forms of movement and physiological processes of living beings through the use of complexly distributed microactuators. Thus, the transfer of principle mechanisms to technical problem solutions from a wide range of different life forms can be realized.
Simulation and optimal control of the dynamics of multibody systems in biomechanics and robotics
Simulation is of great importance when studying everyday or athletic motions with regard to improvements in ergonomics and performance. In particular for medical problems like analysing gait or optimising prostheses as well as for planning robot manoeuvres, simulation is often the only way to estimate the actuating and applied forces and torques. An approximate solution can only be as accurate as the underlying numerical method represents the system’s characteristic properties. If, for example, t…
Multiobjective optimal control of hybrid systems
Optimal feedback control for constrained mechanical systems
Space time discretization for flexible multibody systems and multisymplectic variational integrators
Variational integrators are based on the discretization of the variational principle. It is applied to an approximation of the action functional and results in the discrete Euler-Lagrange equations. If space time is discretized in one step, the resulting integrator is multisymplectic, i.e. symplectic in both space and time.Those integrators are suitable for the simulation of flexible multibody systems including beams, shells and 3D continua. Some of the symmetries present in the continuous system…
Complex frequency response for linear viscoelastic beams of Kelvin-Voigt type
Protein flexibility and conformational ensembles from kino-geometric modeling and sampling to motion planning
Proteins are dynamic macromolecules that perform their biological functions by exchanging between different conformational substates on a broad range of spatial and temporal scales. As the underlying energy landscapes that govern these conformational changes are very rough and often contain high energy barriers, efficient, yet atomically detailed simulations to understand and predict biophysically relevant motions remain challenging.
This project aims at providing functional insights into…
Dynamic analysis of prosthetic structures with polymorphic uncertainty
The overarching goal of this project (phases I and II) is the development of models and structure preserving solution methods for biomechanical optimal control problems involving uncertainty to enable the reliable prediction of human motion with prostheses and their analysis. To be able to get close to the consideration of a real world scenario when simulating the uncertain motion with prosthesis, we want to exemplarily focus on one particular foot prosthesis and perform measurements. We will…
DYMARA: Muscle paths in the biomechanical simulation of human movement and MBS integration
Das Verbundprojekt DYMARA hat die Entwicklung eines innovativen digitalen Menschmodells (Manikins) mit detaillierter Modellierung der Skelettmuskulatur und schnellen numerischen Algorithmen zum Ziel. Mit diesem Manikin soll es möglich werden, den Menschen simulationsgestützt auf optimale Weise in sein Arbeitsumfeld zu integrieren und Ermüdungen, Erkrankungen sowie Unfälle am Arbeitsplatz zu vermeiden. Neben diesen ergonomischen Gesichtspunkten soll das Menschmodell auch zur Therapieplanung im m…
Computational and experimental biomechanics
MKS-Menschenmodelle: Optimal control of biomechanical MBS-Digital Human Models for simulation in the virtual assembly planning
The goal of this project is to apply techniques of biomechanics and optimal control to generate realistic human-like motions of the DHM from generic working instructions like for example move a box from A to B. Such a model would enable the engineers to take into account physical workloads and reachability issues in virtual assembly planning.
The digital human is modeled as a biomechanical multibody system with muscles as actuators. The motions of the DHM for specific working…
Numerical investigations on optimal control and variational integrators for multirate systems
Electromechanically coupled beam models for stacked dielectric elastomer actuators
Stacked dielectric elastomer actuators bear analogy to the behaviour of human muscles in terms of contracting in length direction when stimulated. They are suitable for point-by-point application of a force. Therefore, dielectric elastomers allow for a sophisticated, efficient and noiseless actuation of systems. However, the use of elastic actuators is also accompanied by new control challenges. As the computational cost for solving optimal control problems is significantly affected by the num…
A mechano-geometric framework to characterize macromolecular ensembles
THREAD: Joint Training on Numerical Modelling of Highly Flexible Structures for Industrial Applications
Highly flexible slender structures like yarns, cables, hoses or ropes are essential parts of high-performance engineering systems. The complex response of such structures in real operational conditions is far beyond the capabilities of current modelling tools that are at the core of modern product development cycles.
Addressing this requires a new generation of brilliant scientists. Marie Skłodowska-Curie funding of the THREAD project will bring together young mechanical engineers …
SFB 1483 EmpkinS C04: Analysis of Degenerative Motion Impairments through Integration of Empathokinaesthetic Sensor Data in Biomechanical Human Models (C04)
The focus of the work programme is on the best possible integration of
empathokinesthetic sensor data into biomechanical models. Specifically,
degenerative movement restrictions of the hand are recorded by EmpkinS
and reference sensor technology and the data are optimally integrated
into the mathematical formulation of the optimal control problem
depending on data type, measurement frequency and fuzziness, etc. The
aim of the project is to develop a model of the degenerative hand
movement. Objective biomarkers of healthy or impaired movement function
are identified through movement tracking and prediction.
Dynamic analysis of prosthetic structures with polymorphic uncertainty
People with joint disorders or lower limb loss require a technical substitute that restores biomechanical function and body integrity. Prothetic structures not only need to fulfil their respective functional requirements (allowing a save and wide range of motion at low energy expenditure and without impairing the person's body) but also the appearance of the resulting motion (including aesthetic properties like natural and symmetric gait patterns) is of high relevance. Since measurement of in vivo…
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