GMRS, a Framework for the Dynamics Simulation of the Boat-Oars-Rower(s) Systems
Résumé
From a mechanical point of view, the complex system Boat-Oars-Rower(s) can be considered as a multibody structure on a floating base. Its study comes under the multibody mechanics and, concerning the fluid-structure interaction, under seakeeping, maneuverability and aerodynamics. The large amplitude periodic motion of the rower and the intermittent nature of propulsion, both excite the boat along its six degree of freedom. Aside from practice, the strong coupling between the rowers, the boat and propulsion can be understood, and accurately described by numerical simulation. For this purpose, we developed the Global Mechanical Rowing Simulator (GMRS), a framework for dynamics simulation taking into account the floating base. Robotics techniques have been used to describe the mechanics of the multibody system. Dynamics solving is based on the recursive formulation of the Newton-Euler equations. The inertial characteristics of the rowers are set from anthropometric models. The system is driven by inverse dynamics. The kinematics are generated using B-spline models, whose properties are exploited to allow a parametric description of the motion, offering future possibilities to optimize the rowing technique.