A hallmark of multibody dynamics is that most formulations involve a number of constraints.
Typically, when redundant generalized coordinates are used, equations of motion are …

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 …

This paper presents a unified approach for inverse and direct dynamics of constrained
multibody systems that can serve as a basis for analysis, simulation, and control. The main …

This work describes in detail the theoretical basis of the fully Cartesian coordinates
formulation with a generic rigid body and evaluates its performance in the dynamic analysis …

In multibody system dynamics, the equations of motion are often coupled with systems of
other physical nature, such as hydraulics. To infer the real dynamical state of such a coupled …

This paper develops a new procedure for evaluating the elastic forces, the elastic energy
and the jacobian of the elastic forces in the absolute nodal coordinate formulation. For this …

Real-time dynamic simulation of large, realistic and complexmultibody systems is essential
in developing modern technologies such asvirtual prototyping, man-in-the-loop simulators …

In this paper, a new cable-driven segmented manipulator is studied, which maintains a
nearly piecewise constant curvature under the constraint of a cable-constrained …

In this paper, a new analytical approach suitable for the stability analysis of multibody
mechanical systems is introduced in the framework of Lagrangian mechanics. The approach …

A real-time multibody model of an off-road vehicle can be used to analyze the dynamics of
tasks, such as loading and/or transferring material from deformable ground. This analysis …