Browsing by Author "Tokad, Y."
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Item Open Access An animation system for rigid and deformable models(1993) Güdükbay, Uğur; Özgüç, B.; Tokad, Y.We describe a system for the animation of rigid and deformable models. The system uses the approaches from elasticity theory for animating the models. Two different formulations, namely the primal and the hybrid formulations, are implemented so that the user could select the suitable one for an animation depending on the rigidity of the models. Collision of the models with impenetrable obstacles and constraining model points to fixed positions in space are implemented for use in the animations.Item Open Access Network model approach to the analysis of multirigid-body systems(Kluwer Academic Publishers, 1993) Tokad, Y.The mathematical model of a rigid body in three dimensional motion developed in [1] is used to formulate the equations of motion for the systems of rigid bodies connected to form a special type of open kinematic chain. In this interconnection pattern of rigid bodies, each rigid body is considered as a 3-port component, and for the sake of generality, initially no constraints are imposed on the joints used to interconnect the rigid bodies. The system is considered as an (m+1)-port component and the corresponding terminal equations are obtained in closed form. As an appliction of these equations, a three-link plane manipulator is considered. © 1993 Kluwer Academic Publishers.Item Open Access A network model for rigid-body motion(Kluwer Academic Publishers, 1992) Tokad, Y.In the formulation of equations of motion of three-dimensional mechanical systems, the techniques utilized and developed to analyze the electrical networks based on linear graph theory can conveniently be used. The success of this approach, however, relies on the availability of a complete and adequate mathematical model of the rigid body valid in the three-dimensional motion. This article is devoted to the derivation of such a mathematical model for the rigid body as a (k + 1)-port component. In this derivation, the dynamic properties of the rigid body are automatically included as a consequence of the analytical procedures used in the article. In this model, a general form of the terminal equations is given. In many applications, however, its special form, also given in this article, is used. © 1992 Kluwer Academic Publishers.Item Open Access A spring force formulation for elastically deformable models(Pergamon Press, 1997) Güdükbay, Uğur; Özgüç, B.; Tokad, Y.Continuous deformable models are generally represented using a grid of control points. The elastic properties are then modeled using the interactions between these points. The formulations based on elasticity theory express these interactions using stiffness matrices. These matrices store the elastic properties of the models and they should be evolved in time according to changing elastic properties of the models. However, forming the stiffness matrices at any step of an animation is very difficult and sometimes the differential equations that should be solved to produce animation become ill-conditioned. Instead of modeling the elasticities using stiffness matrices, the interactions between model points could be expressed in terms of external spring forces. In this paper, a spring force formulation for animating elastically deformable models is presented. In this formulation, elastic properties of the materials are represented as external spring forces as opposed to forming complicated stiffness matrices. © 1997 Elsevier Science Ltd.