对比四款刚体仿真工具，助你选对机械系统模拟软件。
Comparison and Evaluation of Different Simulation Environments for Rigid Body Systems
- 用真实林机吊臂建模，测试四款工具的建模与求解差异。
- 发现闭环运动中冗余约束和静平衡问题处理效果差异显著。
- 适合机械设计、仿真选型或教学参考，尤其关注复杂机构建模。
刚体动力学仿真器在多种技术和科学应用中，对机械系统的研发、分析与优化至关重要。本研究对比了四种仿真环境（Adams、Simscape、OpenModelica、VEROSIM），重点关注其建模方法、数值求解器及在闭环运动学中出现的数值问题处理能力，特别是冗余边界条件和静平衡问题。以一款真实林业机械的复杂起重机吊臂为实际基准案例进行验证。通过直接比较各工具的求解方案，帮助用户根据具体需求选择最合适的仿真工具。
原文摘要 · Abstract (English)
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.
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