• Model Order Reduction for Elastic Multibody Systems with Fast Rotating Flexible Bodies 

  Frie, Lennart; Dieterich, Oliver; Eberhard, Peter (2021)

  The dynamical behavior of Elastic Multibody Systems (EMBS) is often analyzed using virtual prototypes described by high-dimensional systems of differential equations. Model Order Reduction (MOR) is a key step to permit ...

• Analysis of the Dynamic Behavior of a Counterbalance Forklift Truck through Multibody Modelling and Simulation 

  Pinelli, Marco; Giovannucci, Monica; Martini, Alberto (2021)

  This work deals with the analysis of the dynamic response of a counterbalance forklift truck prototype when performing standard verification maneuvers, defined by the manufacturer’s testing protocols. The research aims at ...

• Modeling and Simulation of a High-speed Maglev Vehicle on an Infinite Elastic Guideway 

  Schneider, Georg; Schmid, Patrick; Dignath, Florian; Eberhard, Peter (2021)

  For magnetic levitation transport systems with pillared tracks, detailed simulation models of the coupled system of vehicle and guideway offer a valuable contribution to find a tradeoff between stiff/heavy guideway elements, ...

• Development of Steering Laws to Assist the Driving of a Independent Front and Rear Steering Vehicle 

  Dambacher, Louis; Boudon, Benjamin; Bouton, Nicolas; Lot, Roberto; Lalande, Nicolas; Lenain, Roland (2021)

  This paper proposes a control strategy to control the yaw rate of a 2-independentsteering-gears vehicle operated by a driver. The approach is based on adaptive techniques to account the slip effects. An extended kinematic ...

• Handling Evaluation of Tractor-semitrailer with Split Fifth Wheel Coupling Undergoing an ISO Double Lane Change Manoeuvre 

  Jogi, Ajith; Chandramohan, Sujatha; Dash, Sabyasachi (2021)

  Tractor-semitrailers face the issue of off-tracking which restricts their movement through congested areas. One of the innovative and passive methods to reduce offtracking in tractor-semitrailers is to implement a Split ...

• Realistic parameters for dynamic simulation of composite cables using a damped Cosserat rod model 

  Jungkenn, Dominik; Schneider, Fabio; Andersson, Fredrik; Linn, Joachim (2021)

  Digital prototyping presents one of today’s biggest chances in boosting efficiency of product development in automotive industry. Handling flexible parts, such as cables and hoses, is a big challenge in this context. The ...

• First Steps in Data Based Constitutive Modelling of Inelastic Effects in Composite Cables Using Preisach Hysteresis Operators 

  Manfredo, Davide; Dörlich, Vanessa; Linn, Joachim; Arnold, Martin (2021)

  The present contribution aims at describing hysteresis behaviour arising from cyclic bending experiments on cables by means of the Preisach operator. As shown in pure bending experiments, slender structures such as electric ...

• Effective Inelastic Bending Behavior of Multi-Wire Cables Using Finite Elements Accounting forWire Contact 

  Hawwash, Muhannad; Dörlich, Vanessa; Linn, Joachim; Müller, Ralf; Keller, Roger (2021)

  This contribution focuses on the investigation of inelastic structural effects occurring during the bending deformation of cables using detailed finite element models of helix wire strands. Due to the complex structure of ...

• One-Dimensional Modelling of Developable Elastic Strips by Geometric Constraints and their Link to Surface Isometry 

  Bauer, Benjamin; Roller, Michael; Linn, Joachim; Simeon, Bernd (2021)

  The goal of this paper is to introduce a kinematical reduction for the structural model of Kirchhoff-Love shells with developable base surfaces. The dimensional reduction to a curve and a vector field along it decreases ...

• Motion Capture Based Model Identification of the Humanoid Robot REEM-C Using Static Poses 

  Aller, Felix; Harant, Monika; Mombaur, Katja (2021)

  In this paper, we describe an approach for the model identification of the humanoid robot REEM-C. In contrast to previous work, we do not attempt to determine all dynamic parameters simultaneously. It is not clear whether ...

• A recursive dynamics algorithm for soft robotic manipulators made of viscoelastic material 

  Iwamura, Makoto; Hirata, Kento; Maeda, Yoshiki; Oto, Kyuji (2021)

  In recent years, research and development of robots that exist in the same space as humans and can collaborate with humans have been actively carried out. If the body of a robot is made of a hard material, it may cause ...

• On the Dynamics and Optimal Control of Constrained Mechanical Systems 

  Schneider, Simeon; Betsch, Peter (2021)

  The focus of this work is on optimal control in redundant coordinates with a special attention to the boundary constraints that arise in this context. Due to the similarity of the optimization problem of optimal control ...

• Mathematical Model and Control Simulation of Hexapod Robot Locomotion in Tripod Gait 

  Osman, Krešimir; Alajbeg, Trpimir (2021)

  This paper presents the research of a hexapod robot as it movement along a defined path. Firstly, the performance of the robot product architecture is presented and a mathematical kinematic model of the robot is derived ...

• Synthesis of an Extended Kalman Filter for Cable-Driven Parallel Robots 

  Boschetti, Giovanni; González, Francisco; Piva, Giulio; Richiedei, Dario; Rodríguez Frade, Borja; Trevisani, Alberto (2021)

  Cable-driven parallel robots are light-weight parallel robots where cables replace rigid actuators to move an end-effector. As a consequence, they can be characterized by very large workspaces, high-dynamic handlings, ease ...

• A Heuristic Sequencing Method for Time Optimal Tracking of Open and Closed Paths 

  Zauner, Christian; Gattringer, Hubert; Müller, Andreas; Jörgl, Matthias (2021)

  Tracking sequences of predefined open and closed paths is of crucial interest for applications like laser cutting and similar production processes. These distinct paths are connected by non-productive, four times continuously ...

• Desensitized motion planning for underactuated multibody systems 

  Boscariol, Paolo; Richiedei, Dario (2021)

  Model-plant mismatches can severely limit the effectiveness of conventional model-based motion design methods. To solve this issue, a method for robust trajectory planning that can reduce the effects of parametric uncertainties ...

• Path Tracking in Cable Suspended Parallel Robots through Position- Dependent Model Predictive Control with Embedded Integrator 

  Bettega, Jason; Richiedei, Dario; Trevisani, Alberto (2021)

  This work proposes a novel Model Predictive Control (MPC) algorithm for Cable-Driven Robots (CDRs), with a suspended configuration, to achieve good performances in terms of trajectory tracking of the end-effector as well ...

• Influence of Generalized Coordinates on System Dynamics 

  Zhakatayev, Altay; Rogovchenko, Yuriy; Pätzold, Matthias (2021)

  We investigate the effect of the choice of a set of generalized coordinates (GCs) on the simulation of the behavior of the dynamical system using the single-link spherical pendulum as an example. Specifically, we focus our ...

• A compliant and redundantly actuated 2-DOF 3RRR PKM: Less is more 

  Berendsen, Dustin; Sridhar, Aditya; Aarts, Ronald (2021)

  The development of a compliant (or flexure-based) manipulator with redundant actuation has been considered before, showing that the redundancy can be exploited to increase the support stiffness and reduce actuator loads. ...

• Simulation of the Dynamics of the 3-CRS Parallel Robot with a Bond Graph Approach 

  Boudon, Benjamin; Malafosse, Pierre; Guigon, Louis; Margetts, Rebecca; Bouzgarrou, Chedli; Dang, Thu-Thuy (2021)

  This paper presents a bond graph model of the 3-CRS parallel robot and the associated simulations. The structural and modular approach proposed with bond graph permits the systematic modeling of mechatronic multibody ...

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