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A new version of transfer matrix method for multibody systems
Springer Science and Business Media LLC - Tập 38 - Trang 137-156 - 2016
In order to avoid the global dynamics equations and increase the computational efficiency for multibody system dynamics (MSD), the transfer matrix method of multibody system (MSTMM) has been developed and applied very widely in research and engineering in recent 20 years. It differs from ordinary methods in multibody system dynamics with respect to the feature that there is no need for a global dy...... hiện toàn bộ
A logarithmic complexity divide-and-conquer algorithm for multi-flexible-body dynamics including large deformations
Springer Science and Business Media LLC - Tập 34 - Trang 81-101 - 2014
A new algorithm is presented for the modeling and simulation of multi-flexible-body systems. This algorithm is built upon a divide-and-conquer-based multibody dynamics framework, and it is capable of handling arbitrary large rotations and deformations in articulated flexible bodies. As such, this work extends the current capabilities of the flexible divide-and-conquer algorithm (Mukherjee and Ande...... hiện toàn bộ
Sensitivity-analysis methods for nonsmooth multibody systems with contact and friction
Springer Science and Business Media LLC - Tập 54 Số 3 - Trang 345-371 - 2022
Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization
Springer Science and Business Media LLC - Tập 23 - Trang 33-56 - 2009
The development of an algorithm of parametric optimization to achieve optimal cyclic gaits in space for a thirteen-link 3D bipedal robot with twelve actuated joints is proposed. The cyclic walking gait is composed of successive single support phases and impulsive impacts with full contact between the sole of the feet and the ground. The evolution of the joints are chosen as spline functions. The p...... hiện toàn bộ
Motion of a disk in contact with a parametric 2D curve and Painlevé’s paradox
Springer Science and Business Media LLC - Tập 48 - Trang 427-450 - 2019
This paper addresses the modeling and simulation of a homogeneous disk that undergoes plane motion constrained to be in permanent contact with and in the same plane as a two-dimensional curve described by a parametric equation. Except for the elementary cases in which the curve is a straight line or an arc of circumference, the investigated problem presents significant challenges to both modeling ...... hiện toàn bộ
A formulation of kinematic constraints imposed by kinematic pairs using relative pose in vector form
Springer Science and Business Media LLC - Tập 29 - Trang 119-137 - 2012
This paper presents a formulation that expresses kinematic pairs in form of holonomic constraints as functions of a measure of the relative position and orientation of the connected bodies expressed in vector form. While formulating the relative position measure is straightforward, expressing a suitable measure of the relative orientation requires some care. The problem is addressed by computing t...... hiện toàn bộ
Multibody dynamics as a tool for historical research
Springer Science and Business Media LLC - Tập 37 - Trang 15-28 - 2016
Ancient musical instruments can tell us much about the way composers of the past centuries wrote their music. Indeed, the sound and playing characteristics of historical instruments are often very different from those of the instruments we are used to. For example, in the case of the Viennese piano actions used by Mozart and his contemporaries, the so-called “escapement height” largely conditions ...... hiện toàn bộ
Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations
Springer Science and Business Media LLC - Tập 38 - Trang 201-225 - 2016
A novel ODE time stepping scheme for solving rotational kinematics in terms of unit quaternions is presented in the paper. This scheme inherently respects the unit-length condition without including it explicitly as a constraint equation, as it is common practice. In the standard algorithms, the unit-length condition is included as an additional equation leading to kinematical equations in the for...... hiện toàn bộ
A differential approach for modeling revolute clearance joints in planar rigid multibody systems
Springer Science and Business Media LLC - - 2017
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