Multibody Dynamics 2019

Name: Multibody Dynamics 2019 | Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics
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Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics

Andrés Kecskeméthy Francisco Geu Flores(Herausgeber*in)

Springer (Verlag)

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Erschienen am 28. Juni 2019

XII, 545 Seiten

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978-3-030-23132-3 (ISBN)

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Inhalt

Intro
Preface
Contents
Biomechanics
Investigation of Tympanic Membrane Influences on Middle-Ear Impedance Measurements and Simulations
1 Introduction
2 Methods
2.1 How Is Impedance Measured?
2.2 How Can the Measurements Be Simulated?
2.3 Simulation of Middle-Ear Impedance
3 Results and Discussion
3.1 Tubes, Measurements, and Simulations
3.2 Ear Simulations
4 Conclusion
References
Anterior Cruciate Ligament Injuries Alter the Kinematics and Kinetics of Knees with or Without Meniscal Deficiency
1 Introduction
2 Methods
3 Results
4 Discussion
5 Conclusion
References
Investigation of Inhomogeneous Stiffness and Damping Characteristics of the Human Stapedial Annular Ligament
1 Introduction
2 Identification of Structural System Parameters from Dynamic Response Data
2.1 The Beam Experiment Results
2.2 The Stapes Experiment Results
3 Conclusion
References
Comparison of Measured EMG Data with Simulated Muscle Actuations of a Biomechanical Human Arm Model in an Optimal Control Framework - Direct Vs. Muscle Synergy Actuation
Abstract
1 Introduction
2 Control Approach
3 The Weight Lift Test - Motion Lab Experimental Setup
4 The Weight Lift Test - Simulation Setup
Acknowledgments
References
A Detailed Kinematic Multibody Model of the Shoulder Complex After Total Shoulder Replacement
1 Introduction
2 Materials and Methods
2.1 Model Topology
2.2 Mapping Motion Capture Data to the Multibody Model
2.3 Model Implementation and Model Assessment
3 Results and Discussion
3.1 Sensitivity Analysis
3.2 Tracking Deviations
3.3 Kinematic Analysis
4 Conclusion
References
Multibody Analysis of a 3D Human Model with Trunk Exoskeleton for Industrial Applications
Abstract
1 Introduction
2 The 3D Multibody Model
2.1 Human Body Model
2.2 Exoskeleton and Interface Model
3 Simulation Procedure and Analysis
4 Results
5 Discussion and Conclusion
Acknowledgments
References
A Hill Muscle Actuated Arm Model with Dynamic Muscle Paths
1 Introduction
2 Biomechanical Model
2.1 Biomechanical Multibody System
2.2 Muscle Actuation
3 Optimal Control
3.1 Resulting Constrained Nonlinear Optimisation Problem
3.2 Objectives
3.3 Results
4 Conclusion
References
Optimal Control Simulations of Two-Finger Precision Grasps
1 Introduction
2 Hand Model
3 Contact Model
4 Optimal Control Problem for Grasping
4.1 Objective Functions
4.2 Two Finger Grasp Taxonomy
5 Results and Conclusion
References
Reinforcement Learning Applied to a Human Arm Model
1 Human Arm Model
2 Numerical Solution Method for the Optimal Control Problem
3 Reinforcement Learning
4 Numerical Results
5 Conclusion
References
Contact and Constraints
Dynamic Modeling and Analysis of Pool Balls Interaction
Abstract
1 Introduction
2 Pool Table Model
2.1 Geometric Considerations of the Model
2.2 Normal and Friction Force of the Model
2.3 Initial Conditions
3 Numerical Results
4 Conclusions
Acknowledgements
References
Dynamics of Machine-Process Combinations
1 Machine-Process Dynamics
2 Motion Space
3 Example Double Pendulum
4 Summary
References
Modeling of Elastic Cages in the Rolling Bearing Multi-Body Tool CABA3D
Abstract
1 Introduction
2 Model Order Reduction Techniques in CABA3D
3 Contact Modeling of Elastic Elements in CABA3D
3.1 Slice Contact Model
3.2 Node-to-Surface Contact
4 Simulation Results
4.1 Validation
4.2 Application Example
5 Conclusions
References
Analysis of the Influence of the Links' Flexibility and Clearance Effects on the Dynamics of the RUSP Linkage
Abstract
1 Introduction
2 Mathematical Model of the RUSP Linkage with the Clearance
3 Numerical Simulations
4 Conclusions
References
Mechatronics, Robotics and Control
Multibody Analysis and Design of an Electromechanical System Simulating Hyperelastic Membranes
Abstract
1 Introduction
2 Electromechanical Robotics Membrane
3 Analytical and Physical Modelling of the Robotics Membrane
4 Model Validation and Discussion
5 Conclusion
References
Haptic Simulation of Mechanisms
1 Introduction: Developing Hand-Actuated Mechanisms
2 Concept: Haptic Simulation
3 Modelling
4 Real-Time Simulation
5 Online-Modification
6 Conclusion
References
Solution Techniques for Problems of Inverse Dynamics of Flexible Underactuated Systems
1 Introduction
2 Semi-discrete Formulation
3 Method of Characteristics
4 Space-Time Finite Elements
5 Numerical Examples
References
Investigation of the Behavior of Vibration-Damped Flexible Link Robots in End-Effector Contact: Simulation and Experiment
1 Introduction
2 Modeling
3 Vibration Damping Control
4 Vibration Damping Control During Contact
5 Simulation and Experimental Results
6 Conclusion
References
Possibilistic Investigation of Mechanical Control Systems Under Uncertainty
1 Introduction
2 Fuzzy Arithmetical Uncertainty Modeling
3 Possibilistic Ranking of Fuzzy Numbers
4 Mechanical Control Example
5 Results
6 Conclusions
References
Nonlinear Position Control of a Very Flexible Parallel Robot Manipulator
1 Introduction
2 Flexible Lambda Robot
3 Modeling of the Flexible Lambda Robot
4 Control of the Flexible Lambda Robot
5 Simulation and Experimental Results
6 Conclusions
References
A Compliant and Redundantly Actuated 2-DOF 3RRR PKM: Best of Both Worlds?
1 Introduction
2 Example Manipulator
3 Support Stiffness Homogenisation
4 Actuator Torque Balancing and Potential Energy
5 Results
6 Conclusion
References
On the Modeling of Redundantly-Actuated Mechanical Systems
1 Introduction
2 The Modeling of Redundantly-Actuated Mechanical Systems
3 The Minimum-Norm Solution of Actuator Torques/Forces
4 Application to a 2PUR-2RPU PKM
5 Conclusions
References
An Individual Pitch Control Concept for Wind Turbines Based on Inertial Measurement Units
1 Introduction
2 Basic Idea
3 Model-Based Load Reconstruction Supported by IMUs
3.1 Resulting Thrust-Force of the Rotor
3.2 Resulting Tower Torsion Moment
3.3 Resulting Tilt Bending Moment at Tower Top
3.4 Reconstruction of Blade Thrust Forces
4 Individual Pitch Control Concept
5 Conclusion
References
Flexible Multibody Dynamics
Localized Helix Configurations of Discrete Cosserat Rods
1 Introduction
2 Elastic Energy and Balance Equations for Discrete Cosserat Rods
3 Numerical Experiments for Localized Helices
4 Conclusions
References
Importance of Warping in Beams with Narrow Rectangular Cross-Sections: An Analytical, Numerical and Experimental Flexible Cross-Hinge Case Study
1 Introduction
2 Experimental Set-Up
3 Analytical Analysis
4 Numerical Analysis
5 Results and Discussion
6 Conclusions
References
Robust and Fast Simulation of Flexible Flat Cables
1 Introduction
2 Shell Kinematics
3 Shell Elastic Energy
4 Shell Discretization
5 Solving the Discrete Problem
6 Numerical Results and Discussion
6.1 Computational Time Comparison to Classical FE
6.2 Twisting of a Flexible Flat Cable
7 Conclusion
References
Dynamic Analysis of Compliant Mechanisms Using Absolute Nodal Coordinate Formulation and Geometrically Exact Beam Theory
Abstract
1 Introduction
2 3D ANCF Beam Element
3 New ANCF Beam Element Including One Boundary Node
4 Locking Alleviation: Strain Split Method
5 Euler-Bernoulli Beam Element Base on GEBT
6 Numerical Example: Partially Compliant Four-Bar Mechanism
7 Summery and Conclusions
Acknowledgments
References
Dynamic Performance of Flexible Composite Structures with Dielectric Elastomer Actuators via Absolute Nodal Coordinate Formulation
Abstract
1 Introduction
2 High-Order Shell Element of Composite Structure
3 The Deformation Consistent Condition of Flexible Composite Element
4 Equations of Motion of the Composite Structure
5 Discussion
6 Conclusion
Acknowledgments
References
Approaches to Fibre Modelling in the Model of an Experimental Laboratory Mechanical System
Abstract
1 Introduction
2 Point-Mass Representation of the Fibre
3 Application
4 Conclusions
Acknowledgement
References
Body-Fluid-Structure Interaction Simulation for a Trailing-Edge Flexible Stabilizer
Abstract
1 Introduction
2 Governing Equations
2.1 Fluid Flow Governing Equations
2.2 Flexible Structure Deformation Model
2.3 Rigid Body Dynamic Simulation
3 Methodology
4 Statement of the Problem
5 Results and Discussions
6 Conclusions
References
Investigation of a Model Update Technique for Flexible Multibody Simulation
1 Introduction
2 Dynamics of a Flexible Body in Multibody Simulation
3 Conventional Modelling Approach vs. Experimental Synthesis
4 Experimental Test Case
5 Conclusion
References
Extension of the Iterative Improved Reduced System Technique to Flexible Mechanisms
1 Introduction
2 Extension of the Iterative Improved Reduced System
3 Spatial Mechanism: RSCR
3.1 Positioning Problem
3.2 Static Transformation Matrix
3.3 Numerical Results
4 Conclusions
References
Updating of Finite Element Models for Controlled Multibody Flexible Systems Through Modal Analysis
Abstract
1 Introduction
2 General Description of the Updating Method
2.1 System Model
2.2 General Issues of Model Updating
2.3 A Method for Model Updating
3 Extension in the Presence of Passive or Active Control
3.1 Passive Control Through Balancing Springs
3.2 Feedback Control
4 Test Case: Experimental System Supported Through Balancing Springs
5 Conclusions
References
Formulations and Numerical Methods
Modelling Rigid and Flexible Bodies with Truss Elements
1 Introduction
2 Planar Truss Element with Extended Mass Description
3 Spatial Systems
4 Example Problems
5 Conclusions
References
State Observation in Beam-Like Structures Under Unknown Excitation
1 Introduction
2 Full-Order Observer for Linear Systems with Unknown Inputs
3 Implementation Framework
3.1 UIO Design Models
3.2 Results
4 Application to a Flexible Multibody System
4.1 UIO Design Models
4.2 Results
5 Conclusion
References
Dynamic Modelling of Lower Mobility Parallel Manipulators
Abstract
1 Introduction
2 Kinematic Analysis
3 Dynamic Modelling
4 Example
5 Conclusion
References
Mathematical Model of a Crane with Taking into Account Friction Phenomena in Actuators
Abstract
1 Introduction
2 Mathematical Model of the Crane
3 Numerical Simulations
4 Conclusions
References
Closed Form of the Baker-Campbell-Hausdorff Formula for the Lie Algebra of Rigid Body Displacements
Abstract
1 Introduction
2 Closed Form BCH Formula in {\varvec s}{\scriptstyle\mathbb{O}}_{3}
3 Closed Form BCH Formula for the Lie Algebra {{\bf se}}_{3}
4 Closed Form BCH Formula in Dual Lie Algebra
5 Conclusions
References
Alternative Integration Schemes for Constrained Mechanical Systems
1 Introduction
2 Hidden Constraints of Multibody Systems
3 Collocated Constraints Approach for the Generalized- Method
3.1 Index-2 Integration Scheme
3.2 Index-1 Integration Scheme
4 Numerical Example
5 Conclusions
References
Implementation of Linear Springs and Dampers in a Newmark Second Order Direct Integration Method for 2D Multibody Dynamics
Abstract
1 The Newmark Method for 2D Multibody Dynamics
2 Mathematical Development of Linear Springs and Dampers
2.1 Linear Springs
2.2 Linear Dampers
3 Examples of Application
3.1 Double Pendulum with Linear Springs and Dampers
3.2 Crank Mechanism with Linear Spring and Damper
4 Conclusions
Acknowledgments
References
On the Numerical Treatment of Nonlinear Flexible Multibody Systems with the Use of Quasi-Newton Methods
1 Introduction
2 Modelling of Flexible Bodies
3 Numerical Solution of Equations of Motion
3.1 Newmark Integration Method for DAE I3
3.2 Quasi-Newton Method
4 Numerical Simulations
5 Conclusions
References
Interior-Point Solver for Non-smooth Multi-Body Dynamics with Finite Elements
1 Introduction
2 Problem Formulation
3 Interior-Point Solver for Cone QP
4 Results
5 Conclusion
References
A Fast Explicit Integrator for Numerical Simulation of Multibody System Dynamics
1 Introduction
2 Description of the Integrator
3 The Seven Body Mechanism
4 Discussions
5 Conclusions
References
Optimization and Sensitivity Analysis
The Discrete Hamiltonian-Based Adjoint Method for Some Optimization Problems in Multibody Dynamics
1 Introduction
2 Discrete Hamilton's Equations of Motion
3 Discrete Hamiltonian-Based Adjoint Method
4 Numerical Example
5 Conclusions
References
Dynamic Parameters Optimization and Identification of a Parallel Robot
1 Introduction
2 System Description
3 Dynamic Parameters Optimization
4 Dynamic Parameters Identification
5 Conclusion and Perspective
References
Partial Shaking Force Balancing of 3-RRR Parallel Manipulators by Optimal Acceleration Control of the Total Center of Mass
Abstract
1 Introduction
2 Shaking Force Balancing of 3-RRR Planar Parallel Manipulator
2.1 Problem Formulation
2.2 Relationship Between the Input Angles and the Total Center of Mass of the 3-RRR Planar Parallel Manipulator
3 Simulation Results
4 Conclusions
References
Energy Expenditure Minimization for a Delta-2 Robot Through a Mixed Approach
1 Introduction
2 Modeling of Delta-2 Robot
2.1 Mechanical Model
2.2 Electrical Model
3 Design Optimization
4 Results
5 Conclusion
References
Training a Four Legged Robot via Deep Reinforcement Learning and Multibody Simulation
1 Introduction
2 Problem Description
3 Applied Methods
3.1 Proximal Policy Optimization
3.2 Neural Network Architecture
3.3 Reward Shaping
3.4 Workflow
4 Obtained Results and Discussion
5 Conclusion
References
Efficient Simulation and Real-Time Applications
Two General Index-3 Semi-Recursive Formulations for the Dynamics of Multibody Systems
1 Introduction
2 Topological ALI3-P Formulations in Relative (Joint) Coordinates
2.1 Kinematic Relations for Open Chain Multibody Systems
2.2 RTdyn0 Dynamics Recursive Equations
2.3 RTdyn1 Dynamics Recursive Equations
2.4 Topological ALI3-P: Equations of Motion
3 Numerical Experiments
3.1 Spatial Slider-Crank Mechanism
3.2 Chain and Anchor System of a Ship
4 Conclusions
References
Real-Time Capable Calculation of Reaction Forces of Multibody Systems Using Optimized Bushings on the Example of a Vehicle Wheel Suspension
Abstract
1 Introduction
2 Modeling
2.1 Real-Time Object-Oriented Modeling (RTOOM)
2.2 Reaction Equations of Ideal Systems
3 Results
4 Summary
References
A Machine Learning Approach for Minimal Coordinate Multibody Simulation
1 Introduction
2 Auto-Encoders for Minimal Parameterization of Multibody Systems
2.1 Auto-Encoders
2.2 Minimal Coordinate Multibody Simulation
3 Application Example
4 Conclusions
References
Efficient Particle Simulation Using a Two-Phase DEM-Lookup Approach
1 Introduction
2 Discrete Element Method and Contact Model
3 DEM-Lookup Approach
4 Numerical Example
4.1 Offline Phase
4.2 Online Phase
5 Conclusion and Outlook
References
DARTS - Multibody Modeling, Simulation and Analysis Software
1 Introduction
2 Structure-Based Dynamics
3 Architectural Features
3.1 Computational Algorithms and Features
4 Applications
References
Applications in Vehicle Dynamics and Aerospace Devices
Optimization of Geometric Parameters and Stiffness of Multi-Universal-Joint Drive Shaft Considering the Dynamics of Driveline
Abstract
1 Introduction
2 An Experiment of a FR Vehicle Related to NVH
3 Driveline Model Considering Universal Joints
3.1 Engine Modelling
3.2 Driveline Modelling
4 Optimization with Genetic Algorithm
5 Verification Based on a Full Vehicle Model
6 Conclusion
Acknowledgments
Appendix
References
Application of Multibody Dynamics in the Modelling of a Limited-Slip Differential
1 Introduction
2 Design of a Limited Slip Differential
3 Multibody Modelling of a Differential
4 Results of Numerical Simulations and Parametric Studies
5 Conclusions
References
Lateral Dynamics of Vehicles on a ``Steerable'' Roller Test Stand
1 Introduction
2 Lateral Dynamic Behaviour of Vehicles on Roller Sets
3 Concept of the ``Steerable'' Roller Test Stand
4 Design of the Control Structure
5 Concept for the Application of the ``Steerable'' Roller Test Stand in the End of Line Area
6 Conclusion
References
Dynamic Interaction of Heavy Duty Vehicles and Expansion Joints
1 Introduction
2 Measurement Setup
3 Virtual Test Rig
4 Simulation Results
5 Data Processing
6 Conclusion
References
A Study on the Behaviour of the Rotating Disk with the Damage on the Tread
Abstract
1 Introduction
2 Numerical Model Simulation
2.1 Modelling the Bogie on the Roller Rig
2.2 Modelling the Wheel with a Shallow Scrape
2.2.1 Partition of the Geometrical Contact Condition on the Roller
2.2.2 Effect of the Shallow Scrape on the Vertical Displacement of the Centre of the Wheel Rotating
2.2.3 Contact Force Between the Wheel Tread and the Roller
3 Verification of the Dynamic Model by Experiments
3.1 Experiments on the Roller Rig
3.2 Numerical Results and Comparison with Experiments
3.3 The Effects of the Rotating Wheel with the Shallow Scrape on the Contact and the Collision with the Roller
4 Conclusion
References
Multibody Dynamics Analysis of Railway Vehicle with Independently Rotating Wheels Using Negative Tread Conicity
Abstract
1 Introduction
2 Modeling of Wheel Unit with NTCIRW
2.1 Wheel/Rail Contact Problem
2.2 Dynamics Equation of Wheel Unit
3 Modeling of Entire Railway Vehicle
4 Simulation Results
5 Conclusion
References
A Full-Vehicle Motion Simulator for Railways Applications
Abstract
1 Introduction
2 Train Motion Simulator (TMS)
2.1 Working Principles of the TMS
2.2 Simulation Algorithm
3 Multibody Simulation
3.1 Wheelset-Rail Contact
3.2 Upper-Body Model
3.3 Full-Route Model
4 Results
5 Conclusions
Acknowledgements
References
Simulation of the Maglev Train Transrapid Traveling on a Flexible Guideway Using the Multibody Systems Approach
1 Introduction
2 State of the Art
3 Simulation Model: Elastic Multibody System
3.1 Vehicle Model: Rigid Multibody System
3.2 Guideway Model: Euler-Bernoulli Beam
3.3 Coupling of Vehicle and Guideway
4 Simulation Results
5 Conclusions
References
Omni-Vehicle Dynamical Models Mutual Matching for Different Roller-Floor Contact Models
1 Problem Statement
2 Dry Friction
3 Non-holonomic Model with Impacts
4 Viscous Friction
5 Comparison of the Models and Simulation Results
6 Conclusions
References
Adjustment of Non-Holonomic Constraints by Absolutely Inelastic Tangent Impact in the Dynamics of an Omni-Vehicle
1 Introduction
2 The Statement of the Problem
2.1 The Structure of Multibody System and Coordinates
2.2 The Quasivelocities and the Constraints
2.3 Equations of Motion
3 Change of the Roller in Contact
3.1 Vanishing of Slipping as a Tangent Impact
3.2 The Basic Equation of the Impact and Its Solution
4 Dynamics Simulation and Conclusions
References
Multibody Models and Simulations to Assess the Stability of Counterbalance Forklift Trucks
Abstract
1 Introduction
2 Materials and Methods
2.1 Numerical Multibody Model
2.2 Experimental Tests
3 Preliminary Results and Model Verification
3.1 Test 1
3.2 Test 3
4 Conclusion
Acknowledgements
References
Automatic Differentiation in Multibody Helicopter Simulation
1 Introduction
2 Dynamics of Open-Loop Multibody Systems
2.1 Equations of Motion in Minimal Coordinates
3 Automatic Differentation for Open-Loop Multibody Systems
4 Simulation Results
5 Conclusions and Outlook
References
Author Index

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