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Reiser, Robert (2026) Stable and efficient simulation of manipulation and assembly processes in object-oriented modeling languages. Dissertation, Technische Universität München. doi: 10.14459/2026md1839788.
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Official URL: https://mediatum.ub.tum.de/?id=1839788
Abstract
A new approach for simulating assembly processes in system simulation tools in a stable and efficient way is presented. It relies on compliant contact models, automatic generation and management of component pairs, and robust handling of hierarchical contacts. The object-oriented modeling language of a system simulation tool is extended with dedicated models for manipulation, assembly, and disassembly at two levels of detail: fast substitute models and detailed contact force models.
| Item URL in elib: | https://elib.dlr.de/226510/ | ||||||||
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| Document Type: | Thesis (Dissertation) | ||||||||
| Title: | Stable and efficient simulation of manipulation and assembly processes in object-oriented modeling languages | ||||||||
| Authors: |
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| DLR Supervisors: |
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| Date: | 28 August 2026 | ||||||||
| Journal or Publication Title: | mediaTUM | ||||||||
| Open Access: | Yes | ||||||||
| DOI: | 10.14459/2026md1839788 | ||||||||
| Number of Pages: | 133 | ||||||||
| Status: | Published | ||||||||
| Keywords: | manipulation; assembly; disassembly; robotics; grasping; variable structure systems; multibody; collision detection; contact dynamics; Modelica | ||||||||
| Institution: | Technische Universität München | ||||||||
| Department: | TUM School of Engineering and Design | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | Robotics | ||||||||
| DLR - Research area: | Raumfahrt | ||||||||
| DLR - Program: | R RO - Robotics | ||||||||
| DLR - Research theme (Project): | R - Factory of the Future synergy project [RO], R - Synergy project Factory of the Future Extended, R - Synergy project ASPIRO, D - MaTiC-M | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > System Dynamics | ||||||||
| Deposited By: | Reiser, Robert | ||||||||
| Deposited On: | 31 Aug 2026 14:21 | ||||||||
| Last Modified: | 31 Aug 2026 14:21 |
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