Algoryx细分模块

                                                AGX模块
AGX电缆/AGX Cables

该模块用于模拟软管，绳索，衣橱，当然还包括电缆。 这些事物的特点是长结构、圆形切面、可弯曲、拉伸和扭曲、可以使用离散元素进行建模，并且可以承受较大的位移。 它们可以与模拟中的任何几何对象接触，包括自接触。 Dresspack分析是一个特别相关的应用程序。
This module is used to simulate hoses, ropes, dresspacks, and of course, cables. These are long structures with a circular cross section that can be bent, stretched and twisted, modeled with discrete elements, and can be subjected to large displacement. They can be in contact with anything geometric object in the simulation, including self contacts. Dresspack analysis is a particularly relevant application.

• 高逼真度的自我交互仿真High-fidelity self interaction
• 任意刚度的扭转，弯曲，拉伸Arbitrary stiffness for torsion, bend, strech
• 支持塑料变形Supports plastic deformation
• 报告内部的力Reports internal forces
• 与其它模块的完全整合，如水动力学模块Fully integrated with other modules including hydrodynamics
• 根据空间上设置的点列表进行轻松移动Easy routing along list of points in space
• 轻松设置任意形状的线缆的初始状态Initial state can be configured with any shape   

AGX线缆磨损AGX Cable Damage
以AGX电缆为基础，该模块提供的计算方法，可估计仿真期间电缆上的磨损和损坏并生成汇总报告。各种不同类型的变形，例如拉伸、弯曲和扭曲、变形速率以及造成它们的力均会被考虑到计算过程中去。 根据配置的权重对这些进行汇总。 这在开发过程中非常有助于优化控制器和装箱布线，或在部署后分析问题并找出原因。
Building upon AGX Cable, this module provides computations to estimate wear and damage caused on a cable during the simulation and provide an aggregate report. All types of deformations are considered such as stretch bend and twist, along with deformation rates and what forces caused them. These are aggregated according to a configurable set of weights. This greatly assists the optimization of controllers and dresspack routing during development, or analyze problems and identify their causes after deployment.

• 帮助调整控制器以*大程度地减少损坏Helps tune controllers to minimize damage
• 展示拉伸，弯曲，扭曲及其速率Accounts for stretch, bend, twist and their rates
• 获取内部和外部的力Accounts for internal and external forces
• 解决接触和摩擦Accounts for contacts and friction
• 可配置的损坏指标Configurable damage metric
• 现场和事后分析Live and postmortem analysis
• 非常适合机器人编程和设计Perfect for robot programming and design.

AGX电线 AGX Wire
像电缆一样，电线也具有拉伸和弯曲的能力。 它们的不同在于抗扭性。 它们还具有动态分辨率，这就是为什么它们可以有一公里长并承受任意高的张力的原因。 分辨率还根据接触的几何形状进行自身调整，因此可以将它们包裹在其他物体上，包括其它电线。 它们用于起重机，锚索处理和绞车，以及用于ROV和其他海底作业的系绳和操纵线缆。 可以调整电线用来模拟绳索，电线和链条。
Like cables, wires have stretch and bend resistance. They differ from having no resistance to torsion. They also have dynamic resolution which is why they can be kilometer long and subjected to arbitrarily high tension. The resolution is also adapted according to contact geometry so they can be wrapped around other objects, including other wires. They are used for cranes, anchor handling, and winching, as well as for tethers and umbilicals for ROV and other subsea operations. Wires can be tuned to represent ropes, wires and chains.

十多年来，AGX Wire已在世界知名的关键任务模拟器中证明了自己的实力。
AGX Wire has proved itself in mission critical simulators around the globe for more than a decade.

• 详细的材料参数Detailed material specifications.
• 能够处理极高的质量比Capable of handling extreme mass ratios.
• 报告张力和弯曲力Reports tension and bend forces
• 可以对风和水动力学做出响应Responds to Wind and hydrodynamics
• 提供了速度和张力控制的绞车Winches with speed and tension control.
• DriveTrain和 Hydraulics可以驱动绞车 DriveTrain& Hydraulics can power winches
• 绳索和其它所有的实体均产生接触Wires make contacts with all other objects

AGX Hydrodynamics/ Wind (AGX流体力学/风）
该模块可以直接从3D细分中计算出由于水或空气而在任何几何形状上产生的阻力和升力，并计算水位。 每个三角形都会被考虑，作用力与几何表示一样精确。 当然，这对于模拟ROV、潜艇、锚和石油钻井平台至关重要，对于模拟强风条件下的起重机、风力涡轮机也是如此。
This module computes drag and lift forces on any geometry due to water or air directly from the 3D tessellation and accounting for water level. As every triangle is accounted for, the forces are as accurate as the geometric representation. That is of course essential for simulating ROVs, submarines, anchors and oil rigs, but also for cranes in heavy wind condition, and of course, wind turbine.

此模块与AGX Wire和AGX Cable模块可完全对接。
It is fully integrated with AGX Wire and AGX Cable modules.

• 计算升力，阻力和浮力Computes lift, drag, and buoyancy.
• 包含流体动力附加的质量Includes hydrodynamic added mass
• 直接作用于几何图形Works directly on the geometry
• 标明不同步 骤的动态水位线Accounts for dynamic waterline at each step
• 用户自定义风或水的流动Wind or water currents can be user defined.

AGX地形AGX Terrain
 该模块通过与车轮、履带、叶片、铲斗和铲子的相互作用来建模和模拟土壤变形。 这对于推土机、挖掘机、轮式装载机和履带车辆很有用。 它支持挖掘、分级和不同形式的接触，包括任何工具的所有侧面。 它严格保护质量，并能解决压实和土壤破坏的问题。 它提供了一个经过校准的，可配置的，用于砾石，沙子和污垢的土壤模型库。 *重要的是，该模块可计算接触式车身工具与地形之间的准确双向力，这在开发自动机械时对于机器学习应用至关重要。 由于每次仅统计车辆附近的地块，因此速度很快。 总面积仅受内存和图形渲染限制。
This module is to model and simulate soil deformation via interactions with wheels, tracks, blades, buckets and shovels. And that’s useful for bulldozers, excavators, wheel loaders and track vehicles. It supports excavation, grading, and all forms of contacts, including all sides of any tool. It rigorously conserves mass, and it accounts for compaction and soil failure. It includes a calibrated, configurable, library of soil models for gravel, sand and dirt. Most importantly, this module computes accurate bi-directional forces between contacting bodies tools and terrain, which is crucially relevant for machine learning applications when developing autonomous machinery. As only the patch near the vehicle is active at one time, it is fast. The total area is limited only by memory and graphics rendering.

• 实时绩效Real-time performance
• 压实土壤的精确力学Accurate soil mechanics with compaction
• 相互作用力的精确计算Accurate calculation of interaction forces
• 与所有AGX Dynamics模块的紧密耦合Strong coupling with all of AGX Dynamics
• 支持推土铲，铲斗，铁锹轮胎，履带Supports dozer blades, buckets, shovels tires, tracks
• 开挖，平整，压实Excavation, grading, compaction
• 可配置的地形材料库Configurable terrain material library

AGX轮胎AGX Tire

该模块内是在其他模块中的刚性轮子基础上增加了灵活性来模拟轮胎。 它具备了轮胎在向前和横向移动时产生的弹性，滑性和各向的摩擦力。 AGX Tire适用于路上情况和越野情况。 提供了几种预配置好的的模型，涵盖了挖掘机、轮式装载机、叉车、卡车和移动机器人等应用。
This module adds flexibility to otherwise rigid wheels to represent tires. The model introduces elasticity, slip, and anisotropic friction in forward and transversal directions. AGX Tire works for on and off-road scenarios. Several preconfigured models are provided covering applications such as excavators, wheel loaders, fork lifts, trucks and mobile robot. 

• 独立的前向和侧向的摩擦力Independent forward and sideways friction
• 与AGX Terrian对接 Integrated with AGX Terrain
• 径向、扭转和横向的弹性 Elasticity in radial, torsional and lateral direction.
•  处理任何负载Handles any load
•  高速度fast

AGX Drivetrain
该模块用于模拟机械零件（如轴，齿轮，差速器和离合器）在1D动力学和完整的3D多体动力学的紧密耦合。 所有组件都可以与松弛且有缝隙、弹性但不同刚度的接头进行对接。 它不仅仅是仿真，它是深度集成的，因此运行很稳定。 AGX Drivetrain还通过扭矩与转速查找表提供发动机模型，或者提供更精确的D一原理柴油发动机模型。 该模块可与任何AGX Dynamics模型一起使用，并与任何其他模块结合使用，可为挖掘机，卡车，绞车和机器人提供动力，甚至为液压泵提供动力。
This module is for the simulation of the 1D dynamics of mechanical components such as shafts, gears, differential and clutches in tight coupling with full 3D multibody dynamics. All components can be coupled with joints that are slack and have gaps, or also elastic but with any stiffness. It is not a separate simulation, it is deeply integrated and therefore stable. AGX Drivetrain also offers engine models via torque vs rpm lookup table or with a more accurate, first principle diesel engine model. The module can be used with any AGX Dynamics model and in conjunction with any and all other modules to power excavators, trucks, winches and robots, even to power a hydraulic pump.

• 轴，离合器，齿轮，差速器Shafts, clutches, gears, differentials
• Includes backlash and gaps in joints
• 柴油发动机Diesel engine
• 直流电动机DC electric motor
• 与多体动力学的深度集成Deep integration with multibody dynamics
• 适用于绞车Works with winches
• 与 AGX Hydraulics集成

AGX颗粒物仿真AGX Granular
使用此模块，您可以研究和优化对散装颗粒（无论是岩石，颗粒，丸剂还是谷物）进行运输和处理的系统的设计和控制。 在此类系统中，*重要的是物料流和机器工作周期的速度和均匀性，因为这可以节省大量时间和精力，并提高质量。 AGX Granular使用非光滑离散元素方法（NDEM）代替了更传统的离散元素方法（DEM），这意味着它已与核心AGX Dynamics的核心模型和数值方法深度集成。 核心多体解算器和专用的颗粒解算器紧密耦合，从而导致颗粒与机械系统之间的精确耦合力以及非常稳定的模拟。 可以完全放心地模拟带有成千上万个颗粒的造球机或满载的自卸卡车。
With this module, you can study and optimize the design and control of systems which transport and process granules in bulk, whether it is rocks, pellets, pills or grains. Of fundamental importance in such systems is the speed and evenness of material flow and machine work cycle as this can lead to significant savings in time and energy, as well as improvement in quality. AGX Granular uses the Nonsmooth Discrete Element Method (NDEM) instead of the more conventional Discrete Element Method (DEM) which means that it is deeply integrated with the core models and numerical methods at the heart AGX Dynamics. The core multibody and specialized granular solvers are strongly coupled leading to accurate coupling forces between granules and mechanical systems, and very stable simulations. Simulating a pelleting drum with hundreds of thousands of pellets or a fully loaded dumper truck can be done at large step in full confidence.
 
AGX Granular已与大型采矿公司进行了实战测试，这些公司从中获益匪浅。
AGX Granular has been battle tested with large mining companies who found great benefits from it and then chose to abandon other solutions.

• 超长时间-步长集成Large time-step integration
• 准确、稳定的多提集成Stable, accurate integration with multibody
• 高性能并行求解器High performance parallel solver
• 线性和赫兹接触模型Linear and Hertzian contact models
•  稳定桩的滚动阻力Rolling resistance for stable piles
• CAD模型的发射器和接收器Emitters and sinks from CAD models
•  统计输出传感器Sensors for statistics output
• 力的可视化Force visualization
• 用于分析和数据导出的Python脚本Python scripts for analysis and data export
• 完整播放Full playback

AGX液压系统AGX Hydraulics
液压系统的一维仿真紧密耦合到3D中的多体仿真。 与机械集成的建筑液压系统的组件：蓄能器、二元阀、止回阀、马达、泵（固定排量和可变排量）、截止、针形阀、溢流阀。与AGX Drivetrain耦合，通过线性和旋转执行器可以实现机械仿真。 模拟完整的液压动力系统，例如液压绞车，挖掘机，起重机或轮式装载机。
1D-simulation of hydraulics systems tightly coupled to the multi-body simulation in 3D. Components for building hydraulic systems integrated with mechanics: accumulator, binary valves,  check valves, motors, pumps (both fixed and variable displacement), stop valves, needle valve, relief valve. Coupling to AGX Drivetrain and mechanical simulation is done through linear and rotational actuators. Simulate the complete hydraulic powered system such as hydraulic winch, excavator, crane or wheel loader. 

与AGX Driveline模块很好地集成在一起，可以对机械和液压混合系统进行建模。
Integrates well with the AGX Driveline module, allowing for modeling of mixed mechanical and hydraulics systems.

液压元件Hydraulic components