Demo animations showing the main features of Chrono.

### Autonomy Research Testbed (ART) | Demonstration

Demonstration of an Autonomous Research Testbed (ART) for testing and understanding autonomy algorithms in simulation and reality.

### Bulldozing simulation of Moon VIPER with low V-shaped blade

In this simulation, a Moon VIPER rover moves over granular material terrain with a V-shape blade that is set close to the ground as it cuts through the material.

### Bulldozing simulation of Moon VIPER with high V-shaped blade

In this simulation, a Moon VIPER rover moves over granular terrain with a lifted V-shaped blade as it cuts through the granular material.

### Bulldozing simulation of Moon VIPER rovers on crater with straight blades under Moon gravity

This simulation showcases a bulldozing simulation of Moon VIPER rovers on crater with straight blades as they shovel fine granular material under Moon gravity.

### Bulldozing simulation of Moon VIPER rovers on a crater with a straight blade under Earth gravity

This simulation showcases three VIPER rovers installed with straight blades where they bulldoze fine granular material under Earth gravity.

### Vault collapse

Simulation of a complex masonry structure. The model has been created using a 3D CAD, then it has been converted to a proprietary format that has been load into Chrono.

### Particle flows

Demonstration of advanced features for the stochastic generation of particle flows in Chrono. The C++ API provides an extensive set of classes for defining granular matters with different shapes, properties, sizes and mixtures, according to complex user-defined probability distributions.

### Six legged robot

Simulation of a six-legged crawling robot. The model of the robot has been developed in the 3D CAD sofware SolidWorks, then exported to a .py file using the Chrono::SolidWorks add-in, and finally simulated using the Python version of Chrono, that is Chrono::PyEngine

### Waste processing

Simulation of a CES Corona Electrostatic Separator. This is part of a device for waste processing (it separates plastic particles from metal particles using high-potential electric fields). Particles are created from statistical distributions of size, density, shape, etc. The Chrono::Engine simulation is rendered with POVray.

### Tower collapse

Tower composed of boxes collapses due to buckling while a continuous flow of particles flows onto the collapsed tower. Simulated on an NVIDIA GPU using CUDA. with over 600k rigid bodies.

### Escapement

Simulation of a Swiss lever escapement. Constraints, shapes and collision surfaces have been created using SolidWorks. The Chrono::Engine SolidWorks Add-In tool has been used to export the model to a python file. The model has been imported by a C++ program for the simulation; this is a recording of a real-time visualization, using the Irrlicht unit.

### Tire

Tire interacting with granular material. Particles are created with varying granulometry.

### Hopper

Granular flow test: simulation of an hopper filled with 50,000 spheres. Note that the container is not 2D, because its width is 5d (where d is the diameter of the spheres). The simulation has been computed using the Chrono::Engine library for mechanical simulations, and it has been rendered with POV-ray.

### Real-time conveyor

Test: real-time simulation of a conveyor belt. This is a screen recording of the interface of a small program based on the C++ Chrono::Engine physics library. The purpose is to test a new C++ class for simulating conveyor belts, that I recently implemented in Chrono::Engine. Debris is continuosly created by instancing rigid bodies with various shapes. The conveyor belt is invisible, only two fences are drawn. In this simple executable, the user can interact with two sliders in the graphical user interface in order to see the effect of belt speed and flow (particles/second).

### Hexapod robot

Simulation of a robot with 6 legs, 12 motors, 37 parts. This is a benchmark for the simulation software Chrono::Engine. Rendering with Realsoft3D.

### Robot simulation

Real time inverse kinematics of an ABB IRB 7600 robot using the Chrono::Engine physics simulation library. The robot model is imported in Chrono::Engine using the CASCADE unit, that is a module of Chrono::Engine that leverages on the OpenCASCADE library for reading the STEP file format.

### Hopper and conveyor

Simulation of a conveyor belt, using Chrono::Engine. Particles have various valuesof sliding and rolling friction. The Chrono::Engine SolidWorks Add-In tool has been used to export the model from SolidWorks, where the user added constraints and collision shapes; whereas the particles have been added later by using a Python script, in PyChrono::Engine.

### Robot 6-DOF

Simulation of two articulated robots, following straight trajectories in space.

### Shaker

Simulation of a shaker, filled with 1000 spheres, which vibrates thank to an articulated mechanism. This is a part of a longer analysis which has been used to study a phenomenon called vibration-induced size-segregation.

### Reactor

Simulation of the refueling process of a PBR reactor, using Chrono::Engine (test). There are about 150,000 pebbles in the simulation, each with an average of 6 contacts, thus leading to the solution of variational inequalities with almost 4 millions of unknowns at each time step.

### Granit

Simulation of the GRANIT robot. This automated device has been studied with Chrono::Engine in order to optimize the dynamical performance, then it has been built (hardware design by A.Tasora / controller design by P.Righettini, 2005). Rendering in Realsoft3D, modeling in SolidEdge.