Browsing ECCOMAS Multibody Dynamics Conference 2021 by Title
Now showing items 1-20 of 40
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A compliant and redundantly actuated 2-DOF 3RRR PKM: Less is more
(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. ... -
A Heuristic Sequencing Method for Time Optimal Tracking of Open and Closed Paths
(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 ... -
A Nonsmooth Dynamics Perspective on State Observer Design for Mechanical Systems with Unilateral Constraints
(2021)One of the main difficulties in the state observer design for impulsive mechanical systems is the so-called peaking phenomenon: even for an arbitrarily small pre-impact estimation error, a slight mismatch between the impact ... -
A recursive dynamics algorithm for soft robotic manipulators made of viscoelastic material
(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 ... -
An Efficient Discrete Model of a Simple Biped with a Torso
(2021)Human locomotion involves a complex integration of muscles activity, central nervous system, and sensory information. Attempts to describe and understand the biomechanics of human locomotion have been made experimentally ... -
Analysis of the Dynamic Behavior of a Counterbalance Forklift Truck through Multibody Modelling and Simulation
(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 ... -
Analytical Port Inversion For A Flexible Model In The Two-Input Two-Output Port Approach
(2021)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 ... -
Assessment of variable step-size integration of multibody systems
(2021)When performing the numerical integration of multibody systems (MBS) dynamics, the analyst can choose from a wide variety of methods and implementations. Selecting the most appropriate option for a particular application ... -
Computation of internal stress resultants in beam elements with constrained torsional warping
(2021)The computation of stress in beam elements requires the internal stress resultants like axial force and bending moments. For displacement-based beam elements, these resultants can be obtained 1) based on equilibrium, 2) ... -
Coupled Multibody Model Of Industrial Robot With Milling Simulator For Trajectory Compensation
(2021)Robotic machining is a fast-growing technology in the field of mechanical manufacturing. Indeed, it is generally accepted that for the same working space, a fully equipped robotic machining cell can cost 30 to 50 % less ... -
Desensitized motion planning for underactuated multibody systems
(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 ... -
Development of Steering Laws to Assist the Driving of a Independent Front and Rear Steering Vehicle
(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 ... -
Dynamic Analysis of an Internal Turning Tool with Elastic Foundation (Winkler Model) ECCOMAS Thematic Conference on Multibody Dynamics 2021
(2021)This paper focuses on the clamping properties influence on the dynamic properties of clamped boring bars. The boring bar is modeled as a cantilever Euler–Bernoulli beam and a three span configuration in a Winkler foundation, ... -
Effective Inelastic Bending Behavior of Multi-Wire Cables Using Finite Elements Accounting forWire Contact
(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 ... -
Efficient earthquake simulation of stiff and high DOF bridge expansion joint models with Python
(2021)Various types of seismic protection devices has been developed to protect structures like bridges from collapse during an earthquake event, such as hydraulic or metallic hysteresis dampers and spherical pendulum bearings. ... -
First Steps in Data Based Constitutive Modelling of Inelastic Effects in Composite Cables Using Preisach Hysteresis Operators
(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 ... -
Flexible Multibody Dynamics and Sensitivity Analysis in the Design of a Morphing Leading Edge for High-Performance Sailplanes
(2021)High-performance sailplanes have a wide speed range. Form-variable wings with a morphing leading edge in combination with a trailing flap for a high-speed and a lowspeed configuration have shown to increase the performance. ... -
Flexible Multibody Impact Simulations Using Hierarchically Refined Isogeometric Models
(2021)Detailed impact simulations in flexible multibody systems can be simulated based on reduced isogeometric analysis (IGA) models. A precise simulation of an impactrequires a high element resolution in the contact area. ... -
Handling Evaluation of Tractor-semitrailer with Split Fifth Wheel Coupling Undergoing an ISO Double Lane Change Manoeuvre
(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 ... -
Influence of Generalized Coordinates on System Dynamics
(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 ...