Home of OMD
I'm migrating to google code: google code site
This website is the home of OMD. OMD is a multi-body dynamics application used to simulate mechanical systems. Unlike most multi-body dynamics applications, OMD was built to accommodate different approaches to solving such problems. There is a frame work to define rigid bodies, joints, forces, integrators and three different models which use different techniques to solve the equations of motion for a set of bodies, joints and forces. The following are the Models or formulations available at this time:
Model1 uses Kane's method or a recursive joint formulation. In this method each joint adds degrees of freedom or states to the model. Currently it is only capable of solving open loops.
Model2 does not allow joints, it solves unconstrained bodies using their Cartesian Coordinates as states.
Model3 uses constrained Cartesian coordinates meaning joints are used to create a set of algebraic differential equations. Coordinate partitioning is used to identify independent and dependent constraints allowing for the use of Ordinary Differential Equation (ODE) solvers.