Introduction
MBSVT is a library for the kinematic and dynamic simulation of multibody systems, with direct and adjoint sensitivity analysis capabilities. The MBSVT software was developed in Fortran 2003 language as a collection of Fortran modules and it was checked in several different compilers and platforms. The library can solve the kinematics, forward dynamics, sensitivity analysis and optimization of multibody systems. The distribution includes a Cmake list, gfortran make files, MSV2010 project files, and a collection of training problems. The documentation for the library is available in html and pdf as a reference manual.
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Features
- Kinematics: position, velocity and acceleration problems.
- Forward dynamics: penalty formulation fully developed and validated; Matrix R in progress.
- Numerical integrators: Explicit Runge Kutta (ERK) and Implicit Runge Kutta (IRK) available in the library.
- Sensitivity analysis: first order form of the sensitivity equations for the penalty formulation implemented and validated.
- Optimization: L-BFGS-B library integration to optimize multibody systems.
- Basic connection with Matlab by means of the Matlab engine.
- Basic 3D rendering using MBSVT-viz, a graphic library coded in C++ and developed in the framework of the project for that purpose: on progress, not still fully integrated in MBSVT.
- Collection of benchmark problems: kinematics and dynamics validated against third party simulation software.
- Documentation for the library available in html and pdf.