Dynamic Land


Have you thought Kinematic Land has been abandoned?

No, Kinematic Land has never been abandoned in its development. Kinematic Land has been developed in the past during my spare time - very little to be true - but now it becomes my primary activity, because it represents the starting point of my thesis.

I have graduated in Computer Engineering at the Padova University, Italy and my thesis has been supervised by prof.Aldo Rossi, ordinary professor of Robotics and Mechatronics at DIMEG, Department of Mechanics of my University.

Which software am I going to develop?

Well, the development of a new project started in October '97 and it is centered on the project Dynamic Land. I took several parts of Kinematic Land and nice ideas of previous software to start up an application that makes not only kinematics, but even dynamics. Kinematics scopes were very limited, because they manipulate only geometric issues, but the true story is represented by masses, forces, and reactions. This is why I got involved to build the new project.

May I see some snapshots?

Yes, you may. We added some link to see some windows, palettes, and menus of Dynamic Land. These pictures have been taken during a run with this configuration:


  • PowerBook G3 Series
  • PowerPC G3 at 233 MHz
  • Dynamic Land 1.0a8
  • MacOS 9.0.4
  • CarbonLib 1.0.4

Here they are:

Which platforms am I targeting for?

MacOS 8 and PowerPC: the application is PowerPlant native and the interface is really nice, with several features and controls available with the Appearance Manager of MacOS 8. The code was already been built and I'm working on extending the user interface and the tools available to model the dynamic problem. The final application will be available only for PowerPC machines, with MacOS 8.1 and CarbonLib or newer, although MacOS X is recommanded.
Windows 95/NT: the kernel of Dynamic Land is completely platform independent and it has been shown it can be compiled for the Windows box and it has been run too. A small part of user interface has even been implemented for the Windows counterpart, but the work is very late with respect the MacOS implementation.

When will some testing application be available?

I was able to deliver to somebody a prototypal version of my work for Christmas '97. This prototypal release is available only for MacOS. The final date is marked by the need to finish the whole project for thesis discussion in March '98. A demo installation is available.

Will Dynamic Land be shareware?

I haven't taken any decision regarding online helps, web pages, documentation, registrations and other management issue. Now I'm very concentrated on the code. If I release something shareware, it will be worthy of a scientific application, but I should certify the goodness of its calculations. In the meanwhile it's considered as educational code of research.

What does Dynamic Land do?

I list the prominent features:

  • it solves the direct kinematic analysis of position, velocity and
  • acceleration
  • it solves the direct dynamic analysis
  • main kinematic constraints:
  • distance
  • member with one vector
  • member with two vectors
  • blocked points
  • point alignment
  • variable angles
  • angle between members
  • universal joint
  • main forces:
  • punctual force
  • spring force
  • punctual torque
  • simplified friction
  • gravitational field
  • it displays any quantity with displays
  • any quantity can be controlled with a nice slider
  • any quantity can be imported by file
  • it calculates reactions in joints

What doesn't Dynamic Land do?


  • collisions!

I welcome your feedback

I hope to get feedback from you. I'd like to know if you are even interested in my project and if you like to get some prototypal version in the next weeks.

Any comment and contribution is very appreciated. Please make me know your correct Email and the Macintosh you intend to run Dynamic Land.

Integrators available

A lot of features are going to be added, but the dynamical resolving kernel has been extended to support these numerical algoryhtms:

  • Runge-Kutta 2
  • Runge-Kutta 4
  • Adams-Bashforth 3
  • Adams-Bashforth 4
  • Adams-Bashforth 5
  • Adams-Moulton 3
  • Adams-Moulton 4
  • Adams-Moulton 5

Even a predictor-corrector scheme has been written.

Examples available

At this moment, you may simulate these scenes, already prepared:

  • simple pendulum
  • double pendulum
  • triple pendulum
  • n-pendulum
  • simple bars with torsional forces
  • punctual masses with applied forces and dumped springs
  • torques applied over bars

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