Year: 2025
Type: preprint
Abstract: Rigid body dynamics simulators are important tools for the design, analysis and optimization of mechanical systems in a variety of technical and scientific applications. This study examines four different simulation environments (Adams, Simscape, OpenModelica, and VEROSIM), focusing in particular on the comparison of the modeling methods, the numerical solvers, and the treatment of numerical problems that arise especially in closed-loop kinematics (esp. redundant boundary conditions and static equilibrium problem). A novel and complex crane boom of a real forestry machine serves as a practical benchmark application example. The direct comparison of the different solution approaches in the examined simulation tools supports the user in selecting the most suitable tool for his application.
Source: arXiv (Cornell University)
Institution: RWTH Aachen University
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7117124679
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