Multibody Dynamics: Computational Methods and Applications

✍ Scribed by Josep M. Font-Llagunes (eds.)

• Publisher: Springer International Publishing
• Year: 2016
• Tongue: English
• Leaves: 323
• Series: Computational Methods in Applied Sciences 42
• Edition: 1
• Category: Library

✦ Synopsis

This book includes selected papers from the ECCOMAS Thematic Conference on Multibody Dynamics, that took place in Barcelona, Spain, from June 29 to July 2, 2015. By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical systems, and nanotechnologies.

✦ Table of Contents

Front Matter....Pages i-viii
Numerical Integration of Underactuated Mechanical Systems Subjected to Mixed Holonomic and Servo Constraints....Pages 1-18
Enhancing the Performance of the DCA When Forming and Solving the Equations of Motion for Multibody Systems....Pages 19-31
Three-Dimensional Non-linear Shell Theory for Flexible Multibody Dynamics....Pages 33-66
On the Frictional Contacts in Multibody System Dynamics....Pages 67-91
Modeling and Simulation of a 3D Printer Based on a SCARA Mechanism....Pages 93-114
Structure Preserving Optimal Control of a Three-Dimensional Upright Gait....Pages 115-146
Robotran-YARP Interface: A Framework for Real-Time Controller Developments Based on Multibody Dynamics Simulations....Pages 147-164
Wheel-Ground Modeling in Planetary Exploration: From Unified Simulation Frameworks Towards Heterogeneous, Multi-tier Wheel Ground Contact Simulation....Pages 165-192
Intervention-Autonomous Underwater Vehicle Multibody Models for Dynamic Manipulation Tasks....Pages 193-211
Development of a Musculotendon Model Within the Framework of Multibody Systems Dynamics....Pages 213-237
Numerical and Experimental Study on Contact Force Fluctuation Between Wheel and Rail Considering Rail Flexibility and Track Conditions....Pages 239-257
Use of Flexible Models in Extended Kalman Filtering Applied to Vehicle Body Force Estimation....Pages 259-275
Design and Control of an Energy-Saving Robot Using Storage Elements and Reaction Wheels....Pages 277-297
Exploiting the Equations of Motion For Biped Robot Control with Enhanced Stability....Pages 299-321

✦ Subjects

Vibration, Dynamical Systems, Control; Computational Science and Engineering; Mechanical Engineering