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Designing the geometry of a ship’s hull to guarantee a correct anchor maneuver is not an easy task. The engineer responsible for the design has to make sure that the anchor does not jam up during the lifting process and the position adopted by the anchor on the hull is acceptable when it is completely stowed. Some years ago, the design process was based on wooden scale models of the hull, anchor and chain links, which are expensive, their building process is time consuming and they do not offer the required precision. As a result of this research, a computational tool to simulate the anchor maneuver of generic ships given by CAD models was developed, and it is proving to be very helpful for the naval engineers. In this work, all the theory developed to simulate anchor maneuvers is thoroughly described, taking into account both the behavior of the anchor and the chain. To consider the contact forces between all the elements involved in the maneuver, a general contact algorithm for rigid bodies of arbitrary shapes and a particular contact algorithm for the chain links have been developed. In addition to the contact problem, aspects like the dynamic formulation of the equations of motion or the static equilibrium position problem are also covered in this work. To test the theory, a simulation of the anchor lifting maneuver of a ship is included as a case study.

[Resumen] El presente proyecto consiste en el estudio de la incorporación de dispositivos hápticos a un entorno de ensamblaje industrial. Esta metodología permite un aprendizaje más seguro y económico de las tareas de montaje de un producto por parte de los diseñadores de los sistemas, o de los operarios encargados de tales labores.

[Resumen] Este trabajo de fin de grado consiste en el desarrollo de un simulador de una carretilla elevadora. El objetivo es la creación de una aplicación que permita observar el comportamiento de una máquina real e incluso familiarizarse con su uso mediante la simulación dinámica de sistemas multicuerpo. Esta disciplina está basada en la mecánica computacional y en los métodos numéricos para el cálculo de la dinámica de sistemas mecánicos complejos.