Modelling and Simulation of Multiple Galloping Quadrupedal Dynamics
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The work presented in this dissertation is comprised of three distinct parts. Namely data modelling and analysis for galloping quadruped dynamics, numerically mod elling race track path design, and numerically simulating multiple galloping quadrupeds race dynamics. Fundamentally, all the parts are interlinked to one another at the level of searching for dynamics stability of galloping quadrupeds. A holistic approach was taken for information synthesising, ranging from data acquisition to modelling and simulation. The dissertation presents an overview of the current progress in the field, approaches the problem by linking information from modelling, then derives numerical solutions to come to conclusions. Data modelling demonstrated greyhound galloping gait performance and existing race track design conditions. The techniques utilised for data gathering and analysis allowed effective retrieval of diverse information. Racing greyhound galloping gait performance was verified including speed, acceleration, yaw rate, stride frequency, stride length and paw dynamics. Also, reviewing of existing tracks revealed track designs limitations. Data modelling showed that trajectory dynamics could significantly influence race dynamics stability. Thus, methods were derived for modelling and designing gal loping greyhound ideal path trajectory between a straight and curve track path segments. To do this, clothoid and algebraic curved segments were numerically gen erated using a sequential vector transformation method that allows the inclusion of greyhound kinematic parameters. And an equation was derived to model suitable clothoid segments which represents greyhound kinematic parameters and boundary conditions of a track. Finally, results from race data modelling and past injury data are also provided to support transition curve segments improving the dynamics and safety of racing greyhounds while reducing injuries. A race simulation platform was created which emulates greyhound racing. The race simulation explained various aspects of race dynamics affecting overall dynamical outcomes. Results were derived for yaw rate, speed, and the congestion pattern through numerical modelling race simulations. The simulation results presented are also correlated to actual race data to validate modelling performance and reliability. The fundamental tasks carried out include the development of a numerical model for greyhound veering and race-related supporting models. The results from race simulations showed circumstances causing unstable conditions and relationships between various race factors. Finally, this project is useful as it is being applied to optimising quadrupeds racing track design. It could also be used in various other fields such as analysing and numerical modelling and simulation of games, animations and multi-body dynamical physical systems.
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