Physik- & Digital-Twin-Kern für MultiBodySim

MultiBodySim definiert die Referenzarchitektur für non-linear constrained multi-body dynamics, contact solvers & holonomic kinematic chains. Hochpräzise Multiphysik-Modellierung, physik-informierte neuronale Netze (PINNs), Sim2Real und Echtzeit-Co-Simulation.

MultiBodySim System Architecture

Digital Twin Core: Multi-Body Dynamics (MBD) Core — Differential-Algebraic Equations (DAE), Featherstone Recursive Solvers & Friction Contacts

Subsystems & Simulation Modules

Featherstone Articulated Body Algorithm (ABA)
Linear Complementarity Problem (LCP) Contact Solver
Flexible Body (Craig-Bampton Reduction) Engine
Holonomic & Non-Holonomic Constraint Projector
Symplectic Energy-Preserving Time Stepper

Architectural Layers & Ingress Bus

Layer 1: Physical Sensing & Edge DAQ Ingress (OPC UA Pub/Sub / MQTT Sparkplug B / IEEE 802.1Qbv TSN / 100 kHz Sampling): High-frequency edge data acquisition, time-stamped telemetry ingestion, and microsecond clock synchronization with field sensors and PLCs.
Layer 2: Real-Time Physics & Co-Simulation Core (FMI 3.0 / Featherstone ABA / Symplectic Integrators / Non-Smooth Contact Solvers): Executes non-linear multi-body kinematics, rigid-body contact dynamics, and adaptive step-size co-simulation with guaranteed energy conservation.
Layer 3: Neural Surrogate & PINN Acceleration (Fourier Neural Operators (FNO) / Physics-Informed Neural Networks / DeepONet / TensorRT): Deploys deep operator network surrogates to solve continuous field PDEs (thermal, fluid, structural stress) at over 10,000 evaluations per second.
Layer 4: Semantic Twin & AAS Digital Thread (Asset Administration Shell (IEC 63278) / OpenUSD / WebGL / Gaussian Splatting (3DGS)): Provides standardized semantic model interoperability, bidirectional closed-loop control, and photorealistic spatial visualization.

Performance Benchmarks & Simulation Telemetry: < 1.2 ms (Physics Step Time) | < 1.8% (Sim2Real Error Margin) | 1,400x (PINN Surrogate Speedup) | < 15 us (Telemetry Sync Jitter)

Real-Time Multiphysics and Cyber-Physical Synchronization in MultiBodySim

MultiBodySim formalizes the engineering specifications for non-linear constrained multi-body dynamics, contact solvers & holonomic kinematic chains, combining rigorous mathematical solvers, real-time physics engines, and semantic digital threads.

Core Engineering Areas

Featherstone's Articulated Body Algorithm: $O(N)$ Forward Dynamics for Complex Kinematics — Algorithmic implementation of recursive spatial algebra calculating accelerations in high-degree-of-freedom robotic and robotic arms.
Linear Complementarity Problem (LCP) Solvers for Non-Smooth Rigid Body Contacts — Iterative projected Gauss-Seidel and Lemke algorithms solving dry Coulomb friction and restitution with non-penetration guarantees.
Flexible Multi-Body Dynamics: Component Mode Synthesis via Craig-Bampton Reduction — Combining rigid kinematic topologies with modal reduced-order flexible components undergoing high-frequency vibration and stress cycles.