Dynamics Of Underactuated Multibody Systems

Author : Robert Seifried
Publisher : Springer
Page : 249 pages
File Size : 43,8 Mb
Release : 2013-11-27
Category : Technology & Engineering
ISBN : 3319012290

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Dynamics of Underactuated Multibody Systems by Robert Seifried Pdf

Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

Author : Robert Seifried
Publisher : Springer Science & Business Media
Page : 249 pages
File Size : 44,8 Mb
Release : 2013-11-08
Category : Technology & Engineering
ISBN : 9783319012285

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Dynamics of Underactuated Multibody Systems by Robert Seifried Pdf

Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

Author : Ströhle, Timo
Publisher : KIT Scientific Publishing
Page : 174 pages
File Size : 48,9 Mb
Release : 2024-02-26
Category : Electronic
ISBN : 9783731513360

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Inverse dynamics of underactuated flexible mechanical systems governed by quasi-linear hyperbolic partial differential equations by Ströhle, Timo Pdf

This work is about the inverse dynamics of underactuated flexible mechanical systems governed by quasi-linear hyperbolic partial differential equations subjected to time-varying Dirichlet boundary conditions that are enforced by unknown, spatially disjunct, hence non-collocated Neumann boundary conditions.

Author : Yang, Yinping
Publisher : KIT Scientific Publishing
Page : 258 pages
File Size : 48,9 Mb
Release : 2017-05-02
Category : Electronic
ISBN : 9783731506263

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Numerical methods for the inverse dynamics simulation of underactuated mechanical systems by Yang, Yinping Pdf

Author : Abhinandan Jain
Publisher : Springer Science & Business Media
Page : 510 pages
File Size : 47,6 Mb
Release : 2010-12-17
Category : Technology & Engineering
ISBN : 9781441972675

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Robot and Multibody Dynamics by Abhinandan Jain Pdf

Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.

Author : Hubert Gattringer,Johannes Gerstmayr
Publisher : Springer Science & Business Media
Page : 317 pages
File Size : 52,5 Mb
Release : 2013-01-06
Category : Technology & Engineering
ISBN : 9783709112892

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Multibody System Dynamics, Robotics and Control by Hubert Gattringer,Johannes Gerstmayr Pdf

The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

Author : Krzysztof Arczewski,Wojciech Blajer,Janusz Fraczek,Marek Wojtyra
Publisher : Springer Science & Business Media
Page : 327 pages
File Size : 45,9 Mb
Release : 2010-11-08
Category : Technology & Engineering
ISBN : 9789048199716

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Multibody Dynamics by Krzysztof Arczewski,Wojciech Blajer,Janusz Fraczek,Marek Wojtyra Pdf

The ECCOMAS Thematic Conference “Multibody Dynamics 2009” was held in Warsaw, representing the fourth edition of a series which began in Lisbon (2003), and was then continued in Madrid (2005) and Milan (2007), held under the auspices of the European Community on Computational Methods in Applied Sciences (ECCOMAS). The conference provided a forum for exchanging ideas and results of several topics related to computational methods and applications in multibody dynamics, through the participation of 219 scientists from 27 countries, mostly from Europe but also from America and Asia. This book contains the revised and extended versions of invited conference papers, reporting on the state-of-the-art in the advances of computational multibody models, from the theoretical developments to practical engineering applications. By providing a helpful overview of the most active areas and the recent efforts of many prominent research groups in the field of multibody dynamics, this book can be highly valuable for both experienced researches who want to keep updated with the latest developments in this field and researches approaching the field for the first time.

Author : Josep M. Font-Llagunes
Publisher : Springer
Page : 321 pages
File Size : 55,6 Mb
Release : 2016-04-12
Category : Technology & Engineering
ISBN : 9783319306148

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Multibody Dynamics by Josep M. Font-Llagunes Pdf

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.

Author : Yinping Yang
Publisher : Unknown
Page : 250 pages
File Size : 41,7 Mb
Release : 2020-10-09
Category : Mathematics
ISBN : 101328268X

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Numerical Methods for the Inverse Dynamics Simulation of Underactuated Mechanical Systems by Yinping Yang Pdf

The present work deals with the inverse dynamics simulation of underactuated multibody systems. In particular, the study focuses on solving trajectory tracking control problems of differentially flat underactuated systems. The use of servo constraints provides an approach to formulate trajectory tracking control problems of underacutated systems, which are also called underactuated servo constraint problems. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.

Author : Evtim Zahariev,Javier Cuadrado
Publisher : Springer
Page : 206 pages
File Size : 44,9 Mb
Release : 2019-01-09
Category : Technology & Engineering
ISBN : 9783030005276

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IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation by Evtim Zahariev,Javier Cuadrado Pdf

This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the dynamics of motion, and analysis of loading of the devices and of their behaviour caused by the working conditions and natural phenomena. This requires up-to-date methods for dynamics analysis and simulation, novel methods for numerical solution of ODE and DAE, real-time simulation, passive, semi-passive and active control algorithms. Applied examples are mechatronic (intelligent) multibody systems, autonomous vehicles, space structures, structures exposed to external and seismic excitations, large flexible structures and wind generators, robots and bio-robots. The book covers the following subjects: -Novel methods in multibody system dynamics; -Real-time dynamics; -Dynamic models of passive and active mechatronic devices; -Vehicle dynamics and control; -Structural dynamics; -Deflection and vibration suppression; -Numerical integration of ODE and DAE for large scale and stiff multibody systems; -Model reduction of large-scale flexible systems. The book will be of interest for scientists and academicians, PhD students and engineers at universities and scientific institutes.

Author : Nicolae Pandrea,Nicolae-Doru Stanescu
Publisher : John Wiley & Sons
Page : 336 pages
File Size : 50,9 Mb
Release : 2016-05-03
Category : Technology & Engineering
ISBN : 9781118954416

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Dynamics of the Rigid Solid with General Constraints by a Multibody Approach by Nicolae Pandrea,Nicolae-Doru Stanescu Pdf

Covers both holonomic and non-holonomic constraints in a study of the mechanics of the constrained rigid body. Covers all types of general constraints applicable to the solid rigid Performs calculations in matrix form Provides algorithms for the numerical calculations for each type of constraint Includes solved numerical examples Accompanied by a website hosting programs

Author : Anonim
Publisher : Unknown
Page : 128 pages
File Size : 54,6 Mb
Release : 1978
Category : Electronic
ISBN : OCLC:163327325

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Dynamics of Multibody Systems by Anonim Pdf

Author : Karin Nachbagauer,Alexander Held
Publisher : Springer Nature
Page : 172 pages
File Size : 40,9 Mb
Release : 2024-01-04
Category : Technology & Engineering
ISBN : 9783031500008

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Optimal Design and Control of Multibody Systems by Karin Nachbagauer,Alexander Held Pdf

This book presents the proceedings of the IUTAM Symposium on Optimal Design and Control of Multibody Systems 2022, covering research papers in the realm of optimal structural and control design for both rigid and flexible multibody systems. It delves into the application of the adjoint approach, enabling the undertaking of extensive topology optimizations to unearth body designs that excel under time- and design-dependent loads. Encompassing presentations on (adjoint) sensitivity analysis, structural optimization, optimal control, robust optimization, artificial intelligence, machine learning, and computational methods and software development, the IUTAM Symposium 2022 showcased the latest breakthroughs and innovative methodologies. This book presents 14 meticulously peer-reviewed proceedings papers from the event, evenly split between the Optimal Design and Optimal Control panels.

Author : Werner Schiehlen,Peter Eberhard
Publisher : Springer
Page : 215 pages
File Size : 41,5 Mb
Release : 2014-09-05
Category : Technology & Engineering
ISBN : 9783319073354

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Applied Dynamics by Werner Schiehlen,Peter Eberhard Pdf

Applied Dynamics is an important branch of engineering mechanics widely applied to mechanical and automotive engineering, aerospace and biomechanics as well as control engineering and mechatronics. The computational methods presented are based on common fundamentals. For this purpose analytical mechanics turns out to be very useful where D’Alembert’s principle in the Lagrangian formulation proves to be most efficient. The method of multibody systems, finite element systems and continuous systems are treated consistently. Thus, students get a much better understanding of dynamical phenomena, and engineers in design and development departments using computer codes may check the results more easily by choosing models of different complexity for vibration and stress analysis.

Author : Robert E. Roberson,Richard Schwertassek
Publisher : Springer Science & Business Media
Page : 469 pages
File Size : 53,5 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9783642864643

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Dynamics of Multibody Systems by Robert E. Roberson,Richard Schwertassek Pdf

Multibody systems are the appropriate models for predicting and evaluating performance of a variety of dynamical systems such as spacecraft, vehicles, mechanisms, robots or biomechanical systems. This book adresses the general problem of analysing the behaviour of such multibody systems by digital simulation. This implies that pre-computer analytical methods for deriving the system equations must be replaced by systematic computer oriented formalisms, which can be translated conveniently into efficient computer codes for - generating the system equations based on simple user data describing the system model - solving those complex equations yielding results ready for design evaluation. Emphasis is on computer based derivation of the system equations thus freeing the user from the time consuming and error-prone task of developing equations of motion for various problems again and again.