98051ba0c9
- Move existing OndselSolver, GNN ML layer, and tooling into GNN/ directory for integration in later phases - Add Create addon scaffold: package.xml, Init.py - Add expression DAG with eval, symbolic diff, simplification - Add parameter table with fixed/free variable tracking - Add quaternion rotation as polynomial Expr trees - Add RigidBody entity (7 DOF: position + unit quaternion) - Add constraint classes: Coincident, DistancePointPoint, Fixed - Add Newton-Raphson solver with symbolic Jacobian + numpy lstsq - Add pre-solve passes: substitution + single-equation - Add DOF counting via Jacobian SVD rank - Add KindredSolver IKCSolver bridge for kcsolve integration - Add 82 unit tests covering all modules Registers as 'kindred' solver via kcsolve.register_solver() when loaded by Create's addon_loader.
176 lines
5.8 KiB
Plaintext
176 lines
5.8 KiB
Plaintext
# crank_slider.mbd
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#-----------------------------------------------------------------------------
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# [Data Block]
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begin: data;
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problem: initial value;
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end: data;
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#-----------------------------------------------------------------------------
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# [<Problem> Block]
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begin: initial value;
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initial time: 0.;
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final time: 1.;
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time step: 1.e-1;
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max iterations: 10;
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tolerance: 1.e-6;
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end: initial value;
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#-----------------------------------------------------------------------------
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# [Control Data Block]
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begin: control data;
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structural nodes: 4;
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rigid bodies: 3;
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joints: 6;
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end: control data;
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#-----------------------------------------------------------------------------
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# Design Variables
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set: real Mass_Crank = 1.;
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set: real Mass_Conrod = 1.;
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set: real Mass_Slider = 1.;
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set: real Length_Crank = 0.2;
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set: real Length_Conrod = 0.4;
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set: real Offset_Slider = 0.05;
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#-----------------------------------------------------------------------------
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# Reference Labels
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set: integer Ref_Conrod = 1;
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# Node Labels
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set: integer Node_Ground = 1;
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set: integer Node_Crank = 2;
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set: integer Node_Conrod = 3;
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set: integer Node_Slider = 4;
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# Body Labels
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set: integer Body_Crank = 1;
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set: integer Body_Conrod = 2;
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set: integer Body_Slider = 3;
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# Joint Labels
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set: integer JoClamp_Ground = 1;
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set: integer JoAxrot_Ground_Crank = 2;
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set: integer JoRevh_Crank_Conrod = 3;
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set: integer JoInlin_Conrod_Slider = 4;
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set: integer JoInlin_Ground_Slider = 5;
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set: integer JoPrism_Ground_Slider = 6;
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#-----------------------------------------------------------------------------
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# Intermediate Variables
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set: real Izz_Crank = Mass_Crank*Length_Crank^2./12.;
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set: real Izz_Conrod = Mass_Conrod*Length_Conrod^2./12.;
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#-----------------------------------------------------------------------------
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# References
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reference: Ref_Conrod,
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Length_Crank, 0., 0., # absolute position
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euler, 0., 0., asin(Offset_Slider/Length_Conrod), # absolute orientation
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null, # absolute velocity
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null; # absolute angular velocity
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#-----------------------------------------------------------------------------
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# [Nodes Block]
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begin: nodes;
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#-----------------------------------------------------------------------------
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# Nodes
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structural: Node_Ground, static,
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0., 0., 0., # absolute position
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eye, # absolute orientation
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null, # absolute velocity
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null; # absolute angular velocity
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structural: Node_Crank, dynamic,
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Length_Crank/2., 0., 0., # absolute position
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eye, # absolute orientation
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null, # absolute velocity
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null; # absolute angular velocity
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structural: Node_Conrod, dynamic,
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reference, Ref_Conrod, Length_Conrod/2., 0., 0., # absolute position
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reference, Ref_Conrod, eye, # absolute orientation
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null, # absolute velocity
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null; # absolute angular velocity
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structural: Node_Slider, dynamic,
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reference, Ref_Conrod, Length_Conrod, 0., 0., # absolute position
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eye, # absolute orientation
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null, # absolute velocity
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null; # absolute angular velocity
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end: nodes;
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#-----------------------------------------------------------------------------
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# [Elements Block]
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begin: elements;
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#-----------------------------------------------------------------------------
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# Bodies
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body: Body_Crank, Node_Crank,
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Mass_Crank, # mass
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null, # relative center of mass
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diag, 1., 1., Izz_Crank; # inertia matrix
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body: Body_Conrod, Node_Conrod,
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Mass_Conrod, # mass
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null, # relative center of mass
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diag, 1., 1., Izz_Conrod; # inertia matrix
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body: Body_Slider, Node_Slider,
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Mass_Slider, # mass
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null, # relative center of mass
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eye; # inertia matrix
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#-----------------------------------------------------------------------------
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# Joints
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joint: JoClamp_Ground,
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clamp,
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Node_Ground,
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null, # absolute position
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eye; # absolute orientation
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joint: JoAxrot_Ground_Crank,
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axial rotation,
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Node_Ground,
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null, # relative offset
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hinge, eye, # relative orientation
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Node_Crank,
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-Length_Crank/2., 0., 0., # relative offset
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hinge, eye, # relative orientation
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ramp, 2.*pi, 0., 1., 0.; # angular velocity
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joint: JoRevh_Crank_Conrod,
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revolute hinge,
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Node_Crank,
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reference, Ref_Conrod, null, # relative offset
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hinge, reference, Ref_Conrod, eye, # relative axis orientation
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Node_Conrod,
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reference, Ref_Conrod, null, # relative offset
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hinge, reference, Ref_Conrod, eye; # relative axis orientation
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joint: JoInlin_Conrod_Slider,
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in line,
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Node_Conrod,
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Length_Conrod/2., 0., 0., # relative line position
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eye, # relative orientation
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Node_Slider;
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joint: JoInlin_Ground_Slider,
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in line,
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Node_Ground,
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0., Offset_Slider, 0., # relative line position
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1, 0., 0., -1., 3, 1., 0., 0., # relative orientation
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Node_Slider;
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joint: JoPrism_Ground_Slider,
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prismatic,
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Node_Ground,
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Node_Slider;
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end: elements; |