Reinier Kuppens and Wolfslag #paper on a #string-based representation for evolutionary design of dynamical #mechanisms. #toread
on 02026-02-18Reinier Kuppens’s #video about 50 randomly generated 2-D dynamical #mechanisms, simulated with the Newton–Euler dynamical equations using mass but without friction. Mostly interesting as a demonstration of kinematic diagrams using links, springs, and kinematic couples of type hinge and slider. Up to eleven links if you count ground, except for the last mechanism, which has 17 and falls apart. The links are displayed as rounded polygons in pastel colors with alpha, with a Secchi disk fiducial in the middle. Some of the mechanisms have only one degree of freedom and nevertheless have very complicated movement paths. “Each mechanism is generated by randomly creating a labeled graph from which overconstraints are removed. Then, for all components, parameters are randomly chosen, such as hinge locations and spring constants. The equations of motion are then solved and an animation is created from the resulting timeseries. Everything programmed in MATLAB. More information can be found in this paper: (#stringbased) ... Various numeric integration schemes can be used, but I used the Runge-Kutta 4 method in combination with a [Newton-Raphson] algorithm to fix the constraints after each time step.” #mecheng
on 02024-10-02