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Synthesis of mechanisms using evolution of associated dissipative systems
Springer Science and Business Media LLC - Tập 28 - Trang 419-440 - 2012
Z. Šika, M. Grešl, M. Valášek
The paper deals with the new approach of the kinematical synthesis based on the reformulation of the synthesis computations as a time evolution of the nonlinear dynamical dissipative system. The synthesis/optimization objective functions are constructed based on the network of mechanism positions within the desired workspace. All synthesized parameters of the mechanism are in the associated dynami...... hiện toàn bộ
Evaluation and implementation of Lie group integration methods for rigid multibody systems
Springer Science and Business Media LLC - - 2024
Stefan Holzinger, Martin Arnold, Johannes Gerstmayr
As commonly known, standard time integration of the kinematic equations of rigid bodies modeled with three rotation parameters is infeasible due to singular points. Common workarounds are reparameterization strategies or Euler parameters. Both approaches typically vary in accuracy depending on the choice of rotation parameters. To efficiently compute different kinds of multibody systems, one aims ...... hiện toàn bộ
Contents of Volume 4 (2000)
Springer Science and Business Media LLC - Tập 4 - Trang 415-416 - 2000
Numerical integration for the inverse dynamics of a large class of cranes
Springer Science and Business Media LLC - Tập 48 - Trang 1-40 - 2019
Yinping Yang, Peter Betsch, Wei Zhang
A recently developed index reduction method is applied to comparatively complicated underactuated mechanical systems in the context of inverse dynamics. The inverse dynamics formulation is carried out by employing servo constraints in which the outputs (specified in time) are expressed by state variables. The dynamic equations are governed by differential-algebraic equations (DAEs) with high index...... hiện toàn bộ
Intrinsic deformable joints
Springer Science and Business Media LLC - Tập 23 - Trang 361-386 - 2010
Pierangelo Masarati, Marco Morandini
This paper addresses the problem of reducing the constitutive behavior of relatively complex mechanical systems to lumped deformable components that connect two nodes of a multibody system. It is common practice, both in finite element and multibody system dynamics analysis, to refer the constitutive properties of lumped components to one of the nodes they connect. It is shown that this practice, ...... hiện toàn bộ
Generalization of Plate Finite Elements for Absolute Nodal Coordinate Formulation
Springer Science and Business Media LLC - Tập 10 - Trang 17-43 - 2003
O.N. Dmitrochenko, D.Yu. Pogorelov
We propose a way to generate new finite elements in the absolute nodalcoordinate formulation (ANCF) and use a generalization of displacementfields and degrees of freedom (d.o.f.) of ordinary finite elements usedin structural mechanics. Application of this approach to 16- and12-d.o.f. rectangle plate elements as well as to 9-d.o.f. triangleelement gives, accordingly, 48-, 36- and 27-d.o.f. ANCF pla...... hiện toàn bộ
A fast method for determination of creep forces in non-Hertzian contact of wheel and rail based on a book of tables
Springer Science and Business Media LLC - Tập 45 - Trang 169-184 - 2018
Jerzy Piotrowski, Stefano Bruni, Binbin Liu, Egidio Di Gialleonardo
The Kalker book of tables for non-Hertzian contact described in a previous work from the authors provides creep forces, but the moment generated in the contact patch is not available. The extended Kalker book of tables for non-Hertzian contact (KBTNH) presented in this paper provides creep forces, as well as the moment. The paper presents the simplified linear theory of rolling contact for a simpl...... hiện toàn bộ
Kinematic Data Consistency in the Inverse Dynamic Analysis of Biomechanical Systems
Springer Science and Business Media LLC - Tập 8 - Trang 219-239 - 2002
M.P.T. Silva, J.A.C. Ambrósio
Inverse dynamic analysis is used in the study ofhuman gait to evaluate the reaction forces transmittedbetween adjacent anatomical segments and to calculate thenet moments-of-force that result from the muscle activityabout each biomechanical joint. The quality of theresults, in terms of reaction and muscle forces, is greatlyaffected not only by the choice of biomechanical model butalso by the kinem...... hiện toàn bộ
Knee and torso kinematics in generation of optimum gait pattern based on human-like motion for a seven-link biped robot
Springer Science and Business Media LLC - Tập 47 - Trang 117-136 - 2019
M. A. Paparisabet, R. Dehghani, A. R. Ahmadi
Gait pattern affects the quality of a walking robot. In this paper, an optimum human-like gait generation method is proposed for a seven-link biped robot. This method utilizes kinematic constraints based on human-like motion. At first, the constraints are parameterized with unknown parameters. Then, an optimization problem is defined with an objective function and the kinematic constraints. The ob...... hiện toàn bộ
Optimisation of Mechanisms with Collisions and Unilateral Constraints
Springer Science and Business Media LLC - Tập 1 - Trang 223-240
H.-P. Walser, R. Mücke, M. Schulz
This paper addresses the optimisation of the transient dynamical behaviour of mechanisms. The reduction of such optimisation problems to a non-linear programming problem is described. Furthermore, the sensitivity analysis serving as a link between simulation and general purpose optimisation codes is discussed. A method of sensitivity analysis is extended to mechanisms in which collisions can occur...... hiện toàn bộ
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