AUTODYN & ROBOTRAN — Computer Programmes

This contribution presents the main features of the AUTODYN programme. This programme based on d’Alembert Potential Power Principle, permits to derive the equations of motion of any mechanical system which can be represented by a set of interconnected rigid bodies. In particular, it has important applications in the fields of robotics and vehicle dynamics. The variables of the system are the generalized variables describing the relative motion of the various joints of the system. A joints’ library including surface rolling interconnections (rail-wheel joint) is available. Constraints can be considered and in particular those resulting from loops of bodies are automatically generated. The Lagrange multipliers technique permits to derive the complete set of equations of motion; a system reduction via the elimination of these multipliers and a coordinate partioning method is available. The obtained programme can be used as a sub-routine for any desired application such as numerical integration, stability analysis, control design, numerical linearization, eigenvalues determination.