InstituteofAppliedMechanics
Development,simulationandexperimentalinvestigationofcomplexdynamicalandmechatronicalsystems
nTheInstituteofAppliedMechanicsisaleadingresearchcenterinthedynamicsofmechanicalandroboticsystems.Thecoreofitsactivitiesfocusonthedevelopmentofnovelsimulationandexperimentaltechniquesforefficientanalysisofcomplexstructuraldynamics,andonthedesign,constructionandcontrolofadvancedroboticmachines.
Prof.dr.ir.DanielRixen
Contact
Phone+49.89.289.15220
CROPSmanipulatorforauto-matedharvesting
Theresearchisorganizedinthreefocusareas:RoboticsandMechatronics,DynamicSimulationandNumericalTechniques,andExperimentalDynamics.Eachresearch
RoboticsandMechatronics
Mechatronicsisthecombinationofmechanical,electricalandinformaticssystems.Afocusofthisfieldliesontheactuationofmultibodydynamicalsystemsandvibratingstructuresinordertoachievespecificfunctions.Oneexampleofsuchsystemsarerobotswhichareinvestigatedatourinstitute.
Ourinstitutehasalongtraditionin
designing,constructingandcontrollingrobotsfornovelapplications.Basedonourexperienceinautonomousleggedrobots,ourinstitutehasdevelopedahighperformancehumanoidrobot(LOLA)inrecentyears.
Workinginaninterdisciplinaryteam,wecombinetechniquesfrominformatics,electronicsandmechanicstoadvancetheoverallsystemperformanceonrealworldwalkingscenarios.Ourfocusliesonthedevelopmentofmodel-basedmethods
forbipedwalkingwhicharenotrestrictedtoonespecificrobotorscenario.Currentresearchprojectsincludeenvironmentrec-ognitionandmodeling,trajectoryplanningandwalkingcontrol.
Theinstitute’sexpertiseinroboticshasalso
beenappliedtootherfields:InSeptember
2014theEU-projectCROPSwassuccess-fullyfinishedbydevelopingincollaborationwithaninternationalconsortiumtheworld’sfirstautonomousharvestingrobotfor
sweetpepperingreenhouses.Itscore
componentwascreatedatourinstitute;themultipurpose,modularredundantmanipu-latorarm.Withupto9degreesoffreedom,itisspecificallydesignedforharvestingsweetpeppers,applesortheprecisesprayingofgrapes.Inadditiontotheopti-
groupbundlesspecificexpertise,monitorsinternationaladvancesandactivelydiscussesthefutureresearchdirections.
LOLA,thehumanoidrobot
mizationofthekinematicsandmechatronicdesign,ourresearchalsoincludedmotionplanningbasedontactilefeedbackforoperationsinclutteredenvironmentssuchasgreenhouses.
Anotherarea,inwhichourinstitutecollabor-ateswiththeDepartmentofOrthopedicsandSportsOrthopedics,istheinvestigativemanipulationofbiologicjoints.Anexperi-mentaltestrighasbeendeveloped,whichcombinesadaptivetrajectoryplanningandcompliantmotioncontrolschemesathighfrequencies(4000Hz)toactuatebiologicjointsutilizingaroboticarmandtherebyanalyzetheirspatialbiomechanicalbehavior.Thistechniqueaimsatimprovingthedesign
ofjointreplacements(endoprosthesis).Furthermore,theroboticsgrouphasprovenitsworthattheEuropeanRoboticsChal-lenge;ourinstitutewonthefirststagebydevelopingapowerfulsoftwareframeworkfortheautonomousoperationofamobilerobotplatforminanindustrialscenario.
Projects
nReal-timeplanningforflexiblewalkingofahumanoidrobot(DFG)
nRobustwalkingforahumanoidrobot
underdisturbances(DFG)
nGaitcontrolofahumanoidrobotin
uneventerrain(DAAD)
nCROPS–CleverRobotsforCrops:motionplanningforredundantmani-pulatorsandtactilefeedback(EU-FP7,internal)
nMulti-contactplanningandcontrolof
bipedwalkingrobots(internal)
nAdaptiveforce/positioncontrolofarobotforinvestigativemanipulationofhumanjoints(MRI)
STÄUBLIRX90Bmanipulator
forinvestigativemanipulationofbiologicjoints
DynamicSimulationandNumericalTechniques
Designingandoptimizinghigh-tech
systemsnecessitatesaccurateandefficientmodeling.Theexpertiseandresearchfocusoftheinstituteismainlyinmodelreductionaspects,parallelcomputingstrategies
andnumericaltechniquessimulating
thedynamicofcontactbetweenbodies,
includinglubricationthroughfilms.
Toobtainaccuratedynamicalsystemmodelsmultiphysicaleffectsneedtobeincludedforinstancetoaccountfor
lubricationfilms(elasto-hydrodynamics),for
vibro-acousticinteractionorforelectromag-neticalcoupling.
Modelsusedtoanalyzethedynamicsofstructuresoftencontainseveralmillionsofdegreesoffreedom.Wedevelopmethodstocharacterizethedynamicsoflinearandnon-linearstructuralmodelswithonlyareducedsetofunknownssothatmodels
canbeusedforoptimization,designvalida-tionorasflexiblecomponentsinmultibodydynamicsimulations.
Inordertousethepowerofmodern
multiprocessorcomputers,wedevelopsolutionalgorithmsbasedontheparadigmofdomaindecomposition;iftheproblem
ispartitionedindifferentdomains(regionsofastructuralmodel),thesolutionisfoundbyiteratingontheinterfacesolutionwhile
thebehaviorinthedomainsarecomputedindependentlybydifferentprocessors.
Weimprovethosemethodstomakethemrobustforreal-lifeproblemsthatincludeforinstancehighheterogeneitiesorcomplexdynamics.
Interactionbetweenrotatingshaftandstructuraldynamics(top)throughpressureinlubricationfilm(bottom)
Multiphysicalsystemmodelofacommonrailinjector
Projects
nDualsubstructuringtechniquesinlinear
andmultibodydynamics(internal)
nVaryingmanifoldsasreductionbasisforgeometricallynon-linearstructures(internal)
nDomaindecompositiontechniquesfor
dynamicproblems(internal)
nFETImethodfornon-linearmultibodydynamics(internal)
nValidationofapushbeltcontinuously
variabletransmissionusingmultibodydynamics(BoschTransmissionTech-nologyBV)
nElasto-hydrodynamiclubricatedcon-
tactsinmultibodydynamicalsystems
(internal)
nModelingofcommon-railinjectorsfor
faultsdetectionandcontrol(DFG)
nEfficientsimulationandanalysisofflexiblemultibodysystemswithfrictionandimpacts(internal)
nAerodynamicnoiseprediction
oftreadedtiresusingahybrid
aero-acousticmethodology(National
ScienceFoundationLuxemburg)
nModelingofgearswithdefectsin
systemdescriptions(DLR)
nNVHofturbos:floating-ringbearingsandrotordynamicsmodeling(MHIEquipmentEuropeBV)
nElectromagneticcouplinginthedyna-
micsofgeneratorindirect-drivewind
turbines(XEMCDarwindBV)
nHighperformancesimulationofspace-timemultiscalenonlinearproblems(TUM)
ExperimentalDynamics
Dynamictestingisregularlyperformedinourlabsinordertovalidatemodelsandtestconstructions.Inadditionexperimentaldynamictechniquesarepartofourresearchwhereweimprove
identificationmethods.Withintheproject
KonRAT(RocketEngineComponents
forAerospaceTransportSystems)liquidoxygenturbopumpsareanalyzed.Tech-niquestocharacterizetherotordynamicsaswellasthedynamicbehaviorofsealsandbearingsaredeveloped;combiningreducedcomponentmodels,validated
onseveraltestrigs,theinfluencessuch
assealinstabilitiesandbearingeffectsontheturbopumprotorsystemcanbedetermined.Anotherimportantresearchtopicisexperimentalsubstructuring;basedonthemeasureddynamicsofcomponents,afullmodelisbuiltnumer-icallybyspecificassemblytechniques.Obtaininganaccurateassemblednumericalmodelfrommeasuredcom-ponentsrequiresspecialmeasurementtechniquesandsignalprocessingsteps.Withthesetechniquesweenablenovelmethodologiestoinvestigateforinstancenoiseandvibrationpropagationincars.
Inourlabwetestsubstructuringstrate-
giesonasmallwindturbineaspartofan
Experimentalcharacterizationoftestwindturbinecomponents(AM)
internationalbenchmarkingactivityforsubstructuring.
Sustructuringideasarealsousedin
so-calledreal-timehybridtesting.Thisspecialhardware-in-the-looptechniquenumericallysimulatesstructuralcom-ponentsforwhichmodelsareavailable,andexchangesinreal-timeforcesanddisplacementsontheinterfaceswitharealhardwarecomponentinthelab.Insuch
anapproachcomponentscanbetestedinrealconditions,wherethedynamicinter-actionswiththefullsystemisaccountedfor.Wedevelopspecialcomputational
andcontrolstrategiesbasedforinstanceonadaptivefeedforwardcompensationtechniques
Projects
nRotordynamicsforturbopumpsinspacepropulsionsystems(BaySt-MWMET)
nReal-timesubstructuringforcomplex
systems(internal)
nSubstructuringmethodologyfortransferpathanalysis(BMW)
Rotortestbenchwithsensorstomonitordefects(AM)
nFour-polemodelsofcarsubsystemsto
setcomponentrequirements(BMW)
nExperimentalsubstructuringevaluationonanwindturbinetestbench(IranianMinisteryofResearch,EducationandTechnology)
nDynamicIdentifyingofamulti-meg-
awattturbinedirect-drivegeneratorusingoperationalmodalanalysis(XEMCDarwindBV)
ResearchFocus
nModelingandsimulationofdynamicalsystems
nVibrationanalysisandrotordynamics
nMechatronicsandrobotics
nExperimentaldynamics
Competence
nFiniteelementmodelingindynamicsnModelreductionandsubstructuringnTimeintegrationandsolvers
nMultiphysicalmodeling
nTrajectoryplanningandcontrolofrobots
nBipedrobots
nModalidentification
nOperationalmodalanalysis
Infrastructure
nMechanicalandelectronicworkshop
nVibrationanddynamictestlab
nRoboticlab
nDynamicsteachinglab
Courses
nTechnicalMechanics(Statics,ElasticityandDynamics)
nTechnicalMechanicsforElectrotech-
nique
nMachineDynamics
nSimulationofMechatronicalSystems
nMechanicalVibrationLab
nVibrationMeasurementLab
nTechnicalDynamics
nRobotDynamics
nMultibodyDynamics
nStructuralDynamics
nStructuralDynamicsLab
nExperimentalVibrationAnalysis
nSeminarsinAppliedMechanics
Management:
Prof.dr.ir.DanielRixen,M.Sc.,OrdinariusPDDr.-Ing.habil.ThomasThümmel,Director
RetiredProfessors
Prof.Dr.-Ing.FriedrichPfeiffer
Prof.Dr.-Ing.HeinzUlbrich
GuestProfessor
Prof.dr.ir.MichelGéradin
(HumboldtAwardee)
AdministrativeStaffManuelaMüller-PhilippRitaSchneider
PetraPopp-Münich
ResearchScientistsDipl.-Ing.AndreasBartlDipl.-Ing.JörgBaur
Dr.AlejandroCosimo
Dipl.-Math.Eva-MariaDewes
FabianGruber,M.Sc.Dipl.-Ing.KilianGrundlMichaelHäußler,M.Sc.
Dipl.-Ing.Arne-ChristophHildebrandt
Dipl.-Ing.GeraldHorstDipl.-Ing.BenediktHuberDipl.-Ing.AndreasKrinner
Dipl.-Ing.MichaelLeistnerDipl.-Ing.JohannesMayetDipl.-Ing.JulianPfaff
Dipl.-Ing.MarkusRoßner
Dipl.-Ing.JohannesRutzmoserDr.-Ing.ThorstenSchindlerDipl.-Ing.ChristophSchützFelixSygulla,M.Sc.
ChristianWagner,M.Sc.Dipl.-Ing.RobertWittmann
RobEling,M.Sc.,externalcandidate
(TUDelft)
MaartenvanderSeijs,M.Sc.,externalcandidate(TUDelft)
Dipl.-Ing.MichaelKirschneck,externalcandidate(TUDelft)
Dipl.-Ing.MartinMünster,external
candidate
Dipl.-Ing,ConstantinvonDeimlingFransvenderLinden,M.Sc.,externalcandidate
RomainPennec,M.Sc.
KaramoozMorteza,M.Sc.DanielWahrmann,M.Sc.OliverHofmann,M.Sc.
TechnicalStaffSimonGererGeorgKönigGeorgMayr
Publications2015
JournalPublicationsBooks
nGéradin,Michel;Rixen,DanielJ.:Mechanical
Vibrations:TheoryandApplicationtoStructural
Dynamics–3rdEdition.Wiley,2015.
nBab,S.;Khade,S.E.;KaramoozMahdiabadi,M.;Shahgholi,M.:Vibrationmitigationofarotatingbeamunderexternalperiodicforceusinganonlinearenergysink(NES).JournalofVibrationandControl125,2015.
nBaumann,K.;Beitelschmidt,M.;Dresig,H.;Rock-
hausen,L.;Scheffler,M.;Schwabe,J.-H.;Thümmel,T.:Beitelschmidt,Michael;Dresig,Hans(Hrsg.):Maschinendynamik–AufgabenundBeispiele.SpringerScience+BusinessMedia,2015.
nBenkert,Tim;Krinner,Andreas;Thümmel,Thomas;
Volk,Wolfram:DesigningaHigh-SpeedPresswithaSix-BarLinkageMechanism.AppliedMechanicsandMaterials,2015.
nGosselet,Pierre;Rixen,Daniel;Roux,Francois-
Xavier;Spillane,Nicole:SimultaneousFETIandblockFETI:Robustdomaindecompositionwithmultiplesearchdirections.InternationalJournalforNumericalMethodsinEngineering104(10),2015.
nGéradin,Michel;Rixen,DanielJ.:A‘Nodeless’DualSuperelementFormulationforStructuralandMultibodyDynamics–ApplicationtoReduction
ofContactProblems.InternationalJournalfor
NumericalMethodsinEngineering,2015.
nMayet,Johannes;Ulbrich,Heinz:First-orderoptimallinearandnonlineardetuningofcentrifugalpendulumvibrationabsorbers.JournalofSoundandVibration335(0),2015,34-54.
nPfeiffer,Friedrich;Schindler,Thorsten:Introduction
toDynamics.Springer,2015.
nRixen,DanielJ.;Boogaard,Anthonie;Seijs,MaartenV.vander;Schothorst,Gertvan;Poel,Tjeerdvander:Vibrationsourcedescriptioninsubstructuring:
Atheoreticaldepiction.MechanicalSystemsand
SignalProcessing(60-61),2015,498-511.
nSchindler,Thorsten;Rezaei,Shahed;Kursawe,Jochen;Acary,Vincent:Half-explicittimesteppingschemesonvelocitylevelbasedontime-discon-tinuousGalerkinmethods.ComputerMethodsinAppliedMechanicsandEngineering290,2015,
250-276.
nTabak,Umut;Rixen,DanielJ.:vibro-Lanczos,asymmetricLanczossolverforvibro-acousticsimula-tions.InternationalJournalforNumericalMethods
inEngineering,2015.
ConferencePublications
nBartl,Andreas;Mayet,Johannes;Rixen,Daniel
J:AdaptiveFeedforwardCompensationforRealTimeHybridTestingwithHarmonicExcitation.Proceedingsofthe11thInternationalConferenceonEngineeringVibration,2015.
nBartl,Andreas;Rixen,DanielJ:Feasibilityofa
TransmissionSimulatorTechniqueforDynamicRealTimeSubstructuring.Proceedingsofthe33rdIMAC,Orlando,FL,2015.
nEling,Rob;Ostayen,Ronvan;Rixen,Daniel:Oil
FlowinConnectingChannelsofFloatingRingBearings.11.InternationaleTagungSchwingungeninRotierendenMaschinen(SIRM),2015.
nGruber,FabianM.;Rutzmoser,JohannesB.;Rixen,
DanielJ.:ComparisonbetweenprimalanddualCraig-Bamptonsubstructurereductiontechniques.Proceedingsofthe11thInternationalConferenceonEngineeringVibration,Ljubljana,Slovenia,2015.
nGrundl,K.;Schindler,T.;Rixen,D.;Ulbrich,H.;
Velde,A.vander;Yildiz,S.:ALEbeamformulationusingreferencedynamicsforpushbeltCVTs.ECCOMASThematicConferenceonMultibodyDynamics,2015.
nGrundl,Kilian;Schindler,Thorsten;Rixen,Daniel
J.;Ulbrich,Heinz;Velde,Ariev.d.;Yildiz,Semih:Modellingapushbeltvariator.GAMM,86thAnnualScientificConference.Springer,2015.
nHildebrandt,Arne-Christoph;Wahrmann,Daniel;
Wittmann,Robert;Rixen,Daniel;Buschmann,Thomas:Real-TimePatternGenerationAmongObstaclesforBipedRobots.IEEE/RSJInternationalConferenceonIntelligentRobotsandSystems(IROS),2015.
nHorst,G.;Fritzsche,M.;Rixen,D.:UsinganInfrared
LaserinOuterBodyMeasurement:FeasibilityStudy.ESB2015,21stCongressoftheEuropeanSocietyofBiomechanics,2015.
nKirschneck,M.;Rixen,D.J.;Polinder,Henk;
Ostayen,Ronvan:In-SituExperimentalModalAnalysisofaDirect-DriveWindTurbineGenerator.Proceedingsofthe33rdIMAC,Orlando,FL,2015.
nKrinner,A.;Rixen,D.J.:Quasi-Newtonmethod
appliedtoelastohydrodynamiclubricatedcylindricaljoints.ECCOMASThematicConferenceonMulti-bodyDynamics,2015.
nKrinner,A.;Schindler,T.;Rixen,D.J.:Fluid-Struk-
tur-KopplunginelastohydrodynamischenGleit-lagern.11.InternationaleTagungSchwingungeninrotierendenMaschinen(SIRM),2015.
nKrinner,Andreas;Schindler,Thorsten;Rixen,Daniel:
Projectionformulationofthecavitationprobleminelastohydrodynamiclubricationcontact.Proc.Appl.Math.Mech.15,2015,57-58.
nRutzmoser,JohannesB;Gruber,FabianM;Rixen,DanielJ:AComparisononModelOrderReductionTechniquesforGeometricallyNonlinearSystemsBasedonaModalDerivativeApproachUsingSub-spaceAngles.Proceedingsofthe11thInternationalConferenceonEngineeringVibration,Ljubljana,Slovenia,2015.
nSchindler,Thorsten:Aconsistentandefficient
frameworkforthetimeintegrationofmultibodysystemswithimpactsandfriction.ECCOMASThematicConferenceonMultibodyDynamics,
2015.
nSchindler,Thorsten;Mayet,Johannes;Seiwald,Philipp:Impulse-basedcontrolofsimpleoscillatorswithinthenonsmoothmechanicsapproach.Proc.Appl.Math.Mech.15,2015,73-74.
nSchütz,Christoph;Baur,Jörg;Pfaff,Julian;Bus-
chmann,Thomas;Ulbrich,Heinz:EvaluationofaDirectOptimizationMethodforTrajectoryPlanningofa9-DOFRedundantFruit-PickingManipulator.IEEEInternationalConferenceonRoboticsandAutomation(ICRA),Seattle,WA,2015.
nSchütz,Christoph;Pfaff,Julian;Sygulla,Felix;
Rixen,Daniel;Ulbrich,Heinz:MotionPlanningforRedundantManipulatorsinUncertainEnvironmentsbasedonTactileFeedback.IEEE/RSJInternationalConferenceonIntelligentRobotsandSystems(IROS),Hamburg,Germany,2015.
nSeijs,M.V.vander;Pasma,E.A.;Klerk,D.de;
Rixen,D.J.:AcomparisonoftwocomponentTPAapproachesforsteeringgearnoiseprediction.Proceedingsofthe33rdIMAC,Orlando,FL,2015.
nThümmel,Thomas;Rossner,Markus;Ulbrich,
Heinz;Rixen,Daniel:UnterscheidungverschiedenerFehlerartenbeimmodellbasiertenMonitoring.11.InternationaleTagungSchwingungeninRotierendenMaschinen(SIRM),2015.BestPaperAward.
nThümmel,Thomas;Wittmann,Robert;Roßner,
Markus:BewegungsübertragungohneZwang–eineAnwendungvonSelbstsynchronisation.11.KolloquiumGetriebetechnik,Garching,Germany,
2015.
nUlbrich,Heinz;Baur,Jörg;Pfaff,Julian;Schütz,Christoph:DesignandRealizationofaRedundantModularMultipurposeAgriculturalRobot.DINAME
2015–ProceedingsoftheXVIIInternational
SymposiumonDynamicProblemsofMechanics,
2015.
nWittmann,Robert;Hildebrandt,Arne-Christoph;Wahrmann,Daniel;Buschmann,Thomas;Rixen,Daniel:StateEstimationforBipedRobotsUsingMultibodyDynamics.IEEE/RSJInternationalCon-ferenceonIntelligentRobotsandSystems(IROS),Hamburg,Germany,2015.
nWittmann,Robert;Hildebrandt,Arne-Christoph;
Wahrmann,Daniel;Rixen,Daniel;Buschmann,Thomas:Real-TimeNonlinearModelPredictiveFootstepOptimizationforBipedRobots.IEEE-RASInternationalConferenceonHumanoidRobots(Humanoids),Seoul,Korea,2015.