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 ...

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 ...

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 ...

We present an extension of the Livens variational principle (sometimes also referred to as Hamilton-Pontryagin principle) to mechanical systems subject to holonomic constraints. The newly proposed principle embodies an ...

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 ...

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 ...

The authors’ previously published results on a nonholonomic momentum form of Kane’s equations are extended from scleronomic to rheonomic systems. The momentum form is found to be partially Hamiltonian, and a new velocity ...

The formulation of constrained system dynamics using coordinate projection onto a subspace locally tangent to the constraint manifold is revisited using the QR factorization of the constraint Jacobian matrix to extract a ...

In the context of multi-body modeling techniques, this paper introduces a new analytical approach to build a Two-Input-Two-Output Port (TITOP) model for a clamped-clamped flexible appendage. By expanding the previous work ...

The simulation of beams with sliding joints is of interest for many different applications such as aerial runways or pantograph-catenary systems. However, classical discretization with Lagrangian finite elements cannot ...