On the constraints violation in forward dynamics of multibody systems
It is known that the dynamic equations of motion for constrained mechanical multibody
systems are frequently formulated using the Newton–Euler's approach, which is augmented …
systems are frequently formulated using the Newton–Euler's approach, which is augmented …
Multibody dynamics with redundant constraints and singular mass matrix: existence, uniqueness, and determination of solutions for accelerations and constraint forces
J García de Jalón, MD Gutierrez-Lopez - Multibody System Dynamics, 2013 - Springer
This paper addresses some important issues for multibody dynamics; issues that are basic
and really not too difficult to solve, but rarely considered in the literature. The aim of this …
and really not too difficult to solve, but rarely considered in the literature. The aim of this …
Direct sensitivity analysis of multibody systems with holonomic and nonholonomic constraints via an index-3 augmented Lagrangian formulation with projections
D Dopico, F González, A Luaces, M Saura… - Nonlinear …, 2018 - Springer
Optimizing the dynamic response of mechanical systems is often a necessary step during
the early stages of product development cycle. This is a complex problem that requires to …
the early stages of product development cycle. This is a complex problem that requires to …
Constructal design of circular multilayer microchannel heat sinks
MR Salimpour… - Journal of …, 2019 - asmedigitalcollection.asme.org
Based on the constructal theory concepts, an investigation is carried out to optimize circular
multilayer microchannels embedded inside a rectangular heat sink with different numbers of …
multilayer microchannels embedded inside a rectangular heat sink with different numbers of …
Direct integration of the equations of multibody dynamics using central differences and linearization
G Urkullu, IF de Bustos, V García-Marina… - Mechanism and Machine …, 2019 - Elsevier
A methodology for integrating rigid body dynamics for the analysis of multibody systems is
presented. The novelty lies in the fact that the equation system is solved directly by means of …
presented. The novelty lies in the fact that the equation system is solved directly by means of …
Stress distribution around an elliptic hole in a plate with 'implicit'and 'explicit'non-local models
M Tuna, P Trovalusci - Composite Structures, 2021 - Elsevier
Understanding the effects of defects is crucial due to their deliberate or unintentional
presence in many materials. Classical theory of elasticity may not be the best candidate to …
presence in many materials. Classical theory of elasticity may not be the best candidate to …
[HTML][HTML] Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs
Cable-driven parallel robots are parallel robots where light-weight cables replace rigid
bodies to move an end-effector. Their peculiar design allows obtaining large workspaces …
bodies to move an end-effector. Their peculiar design allows obtaining large workspaces …
Behaviour of augmented Lagrangian and Hamiltonian methods for multibody dynamics in the proximity of singular configurations
F González, D Dopico, R Pastorino, J Cuadrado - Nonlinear Dynamics, 2016 - Springer
Augmented Lagrangian methods represent an efficient way to carry out the forward-
dynamics simulation of mechanical systems. These algorithms introduce the constraint …
dynamics simulation of mechanical systems. These algorithms introduce the constraint …
[HTML][HTML] Model predictive control for path tracking in cable driven parallel robots with flexible cables: collocated vs. noncollocated control
This paper proposes a novel control scheme for precise path tracking control in cable driven
parallel robots (CDPRs) with axially-flexible cables, with particular focus to the challenging …
parallel robots (CDPRs) with axially-flexible cables, with particular focus to the challenging …
Assessment of linearization approaches for multibody dynamics formulations
F González, P Masarati… - Journal of …, 2017 - asmedigitalcollection.asme.org
Formulating the dynamics equations of a mechanical system following a multibody dynamics
approach often leads to a set of highly nonlinear differential-algebraic equations (DAEs) …
approach often leads to a set of highly nonlinear differential-algebraic equations (DAEs) …