
Multibody Dynamics 2019
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Content
- 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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