Download or read book Numerical Integration and Optimization of Motions for Multibody Dynamic Systems written by Joan Aguilar Mayans and published by . This book was released on 2017 with total page 153 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis considers the optimization and simulation of motions involving rigid body systems. It does so in three distinct parts, with the following topics: optimization and analysis of human high-diving motions, efficient numerical integration of rigid body dynamics with contacts, and motion optimization of a two-link robot arm using Finite-Time Lyapunov Analysis.The first part introduces the concept of eigenpostures, which we use to simulate and analyze human high-diving motions. Eigenpostures are used in two different ways: first, to reduce the complexity of the optimal control problem that we solve to obtain such motions, and second, to generate an eigenposture space to which we map existing real world motions to better analyze them. The benefits of using eigenpostures are showcased through different examples.The second part reviews an extensive list of integration algorithms used for the integration of rigid body dynamics. We analyze the accuracy and stability of the different integrators in the three-dimensional space and the rotation space SO(3). Integrators with an accuracy higher than first order perform more efficiently than integrators with first order accuracy, even in the presence of contacts.The third part uses Finite-time Lyapunov Analysis to optimize motions for a two-link robot arm. Finite-Time Lyapunov Analysis diagnoses the presence of time-scale separation in the dynamics of the optimized motion and provides the information and methodology for obtaining an accurate approximation to the optimal solution, avoiding the complications that timescale separation causes for alternative solution methods.
Download or read book Multibody Dynamics 2019 written by Andrés Kecskeméthy and published by Springer. This book was released on 2019-06-28 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this work, outstanding, recent developments in various disciplines, such as structural dynamics, multiphysic mechanics, computational mathematics, control theory, biomechanics, and computer science, are merged together in order to provide academicians and professionals with methods and tools for the virtual prototyping of complex mechanical systems. Each chapter of the work represents an important contribution to multibody dynamics, a discipline that plays a central role in the modelling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of applications.
Download or read book Advanced Multibody System Dynamics written by Werner Schiehlen and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 491 pages. Available in PDF, EPUB and Kindle. Book excerpt: The German Research Council (DFG) decided 1987 to establish a nationwide five year research project devoted to dynamics of multibody systems. In this project universities and research centers cooperated with the goal to develop a general pur pose multibody system software package. This concept provides the opportunity to use a modular structure of the software, i.e. different multibody formalisms may be combined with different simulation programmes via standardized interfaces. For the DFG project the database RSYST was chosen using standard FORTRAN 77 and an object oriented multibody system datamodel was defined. The project included • research on the fundamentals of the method of multibody systems, • concepts for new formalisms of dynamical analysis, • development of efficient numerical algorithms and • realization of a powerful software package of multibody systems. These goals required an interdisciplinary cooperation between mathematics, compu ter science, mechanics, and control theory. ix X After a rigorous reviewing process the following research institutions participated in the project (under the responsibility of leading scientists): Technical University of Aachen (Prof. G. Sedlacek) Technical University of Darmstadt (Prof. P. Hagedorn) University of Duisburg M. Hiller) (Prof.
Download or read book Multibody Dynamics written by Jean-Claude Samin and published by Springer Science & Business Media. This book was released on 2012-10-17 with total page 219 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume provides the international multibody dynamics community with an up-to-date view on the state of the art in this rapidly growing field of research which now plays a central role in the modeling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of industrial applications. This book contains selected contributions delivered at the ECCOMAS Thematic Conference on Multibody Dynamics, which was held in Brussels, Belgium and organized by the Université catholique de Louvain, from 4th to 7th July 2011. Each paper reflects the State-of-Art in the application of Multibody Dynamics to different areas of engineering. They are enlarged and revised versions of the communications, which were enhanced in terms of self-containment and tutorial quality by the authors. The result is a comprehensive text that constitutes a valuable reference for researchers and design engineers which helps to appraise the potential for the application of multibody dynamics methodologies to a wide range of areas of scientific and engineering relevance.
Download or read book Computer Aided Analysis and Optimization of Mechanical System Dynamics written by E. J. Haug and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 706 pages. Available in PDF, EPUB and Kindle. Book excerpt: These proceedings contain lectures presented at the NATO-NSF-ARO sponsored Advanced Study I~stitute on "Computer Aided Analysis and Optimization of Mechanical System Dynamics" held in Iowa City, Iowa, 1-12 August, 1983. Lectures were presented by free world leaders in the field of machine dynamics and optimization. Participants in the Institute were specialists from throughout NATO, many of whom presented contributed papers during the Institute and all of whom participated actively in discussions on technical aspects of the subject. The proceedings are organized into five parts, each addressing a technical aspect of the field of computational methods in dynamic analysis and design of mechanical systems. The introductory paper presented first in the text outlines some of the numerous technical considerations that must be given to organizing effective and efficient computational methods and computer codes to serve engineers in dynamic analysis and design of mechanical systems. Two substantially different approaches to the field are identified in this introduction and are given attention throughout the text. The first and most classical approach uses a minimal set of Lagrangian generalized coordinates to formulate equations of motion with a small number of constraints. The second method uses a maximal set of cartesian coordinates and leads to a large number of differential and algebraic constraint equations of rather simple form. These fundamentally different approaches and associated methods of symbolic computation, numerical integration, and use of computer graphics are addressed throughout the proceedings.
Download or read book Computational Dynamics in Multibody Systems written by Manuel F.O. Seabra Pereira and published by Springer Science & Business Media. This book was released on 2013-03-09 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains the edited version of selected papers presented at the Nato Advanced Study Institute on "Computer Aided Analysis of Rigid and Flexible Mechanical Systems", held in Portugal, from the 27 June to 9 July, 1994. The present volume can be viewed as a natural extension of the material addressed in the Institute which was published by KLUWER in the NATO ASI Series, Vol. 268, in 1994. The requirements for accurate and efficient analysis tools for design of large and lightweight mechanical systems has driven a strong interest in the challenging problem of multibody dynamics. The development of new analysis and design formulations for multi body systems has been more recently motivated with the need to include general features such as: real-time simulation capabilities, active control of machine flexibilities and advanced numerical methods related to time integration of the dynamic systems equations. In addition to the presentation of some basic formulations and methodologies in dynamics of multibody systems, including computational aspects, major applications of developments to date are presented herein. The scope of applications is extended to vehicle dynamics, aerospace technology, robotics, mechanisms design, intermittent motion and crashworthiness analysis. Several of these applications are explored by many contributors with a constant objective to pace development and improve the dynamic performance of mechanical systems avoiding different mechanical limitations and difficult functional requirements, such as, for example, accurate positioning of manipulators.
Download or read book Flexible Multibody System Dynamics Theory And Applications written by Mingjun Xie and published by Routledge. This book was released on 2017-11-13 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume examines the theoretical and practical needs on the subject of multibody system dynamics with emphasis on flexible systems and engineering applications. lt focuses on developing an all purpose algorithm for the dynamic simulation of flexible tree-like systems making use of matrix representation at all levels. The book covers new theories with engineering applications involved in broad fields which include; civil engineering, aerospace and robotics, as well as general and mechanical engineering. The applications include high temperature conditions, time variant contact conditions, biosystem analysis, vibration minimization and control.
Download or read book Multibody Dynamics written by Juan Carlo Garcia Orden and published by Springer Science & Business Media. This book was released on 2007-04-05 with total page 297 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ECCOMAS Thematic Conference Multibody Dynamics 2005 was held in Madrid, representing the second edition of a series which began in Lisbon 2003. This book contains the revised and extended versions of selected conference communications, representing the state-of-the-art in the advances on computational multibody models, from the most abstract mathematical developments to practical engineering applications.
Download or read book Multiscale Multibody Dynamics written by Jielong Wang and published by Springer Nature. This book was released on 2023-03-24 with total page 367 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a novel theory of multibody dynamics with distinct features, including unified continuum theory, multiscale modeling technology of multibody system, and motion formalism implementation. All these features together with the introductions of fundamental concepts of vector, dual vector, tensor, dual tensor, recursive descriptions of joints, and the higher-order implicit solvers formulate the scope of the book’s content. In this book, a multibody system is defined as a set consisted of flexible and rigid bodies which are connected by any kinds of joints or constraints to achieve the desired motion. Generally, the motion of multibody system includes the translation and rotation; it is more efficient to describe the motion by using the dual vector or dual tensor directly instead of defining two types of variables, the translation and rotation separately. Furthermore, this book addresses the detail of motion formalism and its finite element implementation of the solid, shell-like, and beam-like structures. It also introduces the fundamental concepts of mechanics, such as the definition of vector, dual vector, tensor, and dual tensor, briefly. Without following the Einstein summation convention, the first- and second-order tensor operations in this book are depicted by linear algebraic operation symbols of row array, column array, and two-dimensional matrix, making these operations easier to understand. In addition, for the integral of governing equations of motion, a set of ordinary differential equations for the finite element-based discrete system, the book discussed the implementation of implicit solvers in detail and introduced the well-developed RADAU IIA algorithms based on post-error estimation to make the contents of the book complete. The intended readers of this book are senior engineers and graduate students in related engineering fields.
Download or read book Multibody Systems Handbook written by Werner Schiehlen and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamics of multibody systems is of great importance in the fields of robotics, biomechanics, spacecraft control, road and rail vehicle design, and dynamics of machinery. Many research problems have been solved and a considerable number of computer codes based on multibody formalisms is now available. With the present book it is intended to collect software systems for multibody system dynamics which are well established and have found acceptance in the users community. The Handbook will aid the reader in selecting the software system which is most appropriate to his needs. Altogether 17 research groups contributed to the Handbook. A compact summary of important capabilities of these software systems is presented in tabular form. All authors dealt with two typical test examples, a planar mechanism and a spatial robot. Thus, it is very easy to compare the results and to identify more clearly the advantages of one or the other formalism.
Download or read book Dynamics and Balancing of Multibody Systems written by Himanshu Chaudhary and published by Springer Science & Business Media. This book was released on 2008-09-27 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book has evolved from the passionate desire of the authors in using the modern concepts of multibody dynamics for the design improvement of the machineries used in the rural sectors of India and The World. In this connection, the first author took up his doctoral research in 2003 whose findings have resulted in this book. It is expected that such developments will lead to a new research direction MuDRA, an acronym given by the authors to “Multibody Dynamics for Rural Applications. ” The way Mu- DRA is pronounced it means ‘money’ in many Indian languages. It is hoped that practicing MuDRA will save or generate money for the rural people either by saving energy consumption of their machines or making their products cheaper to manufacture, hence, generating more money for their livelihood. In this book, the initial focus was to improve the dynamic behavior of carpet scrapping machines used to wash newly woven hand-knotted c- pets of India. However, the concepts and methodologies presented in the book are equally applicable to non-rural machineries, be they robots or - tomobiles or something else. The dynamic modeling used in this book to compute the inertia-induced and constraint forces for the carpet scrapping machine is based on the concept of the decoupled natural orthogonal c- plement (DeNOC) matrices. The concept is originally proposed by the second author for the dynamics modeling and simulation of serial and - rallel-type multibody systems, e. g.
Download or read book Numerical Methods in Multibody Dynamics written by Claus Führer and published by Springer Science & Business Media. This book was released on 2013-11-11 with total page 287 pages. Available in PDF, EPUB and Kindle. Book excerpt: The important interaction between modeling and solution techniques is demonstrated by using a simplified multibody model of a truck thoughout the book to illustrate all key concepts.
Download or read book Multibody Dynamics written by Carlo L. Bottasso and published by Springer. This book was released on 2008-10-20 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multibody Dynamics is an area of Computational Mechanics which blends together various disciplines such as structural dynamics, multi-physics - chanics, computational mathematics, control theory and computer science, in order to deliver methods and tools for the virtual prototyping of complex mechanical systems. Multibody dynamics plays today a central role in the modeling, analysis, simulation and optimization of mechanical systems in a variety of ?elds and for a wide range of industrial applications. The ECCOMAS Thematic Conference on Multibody Dynamics was ini- ated in Lisbon in 2003, and then continued in Madrid in 2005 with the goal of providing researchers in Multibody Dynamics with appropriate venues for exchanging ideas and results. The third edition of the Conference was held at the Politecnico di Milano, Milano, Italy, from June 25 to June 28, 2007. The Conference saw the participation of over 250 researchers from 32 di?- ent countries, presenting 209 technical papers, and proved to be an excellent forum for discussion and technical exchange on the most recent advances in this rapidly growing ?eld.
Download or read book Advances in Computational Multibody Systems written by Jorge A.C. Ambrósio and published by Springer Science & Business Media. This book was released on 2006-03-30 with total page 372 pages. Available in PDF, EPUB and Kindle. Book excerpt: Among all the fields in solid mechanics the methodologies associated to multibody dynamics are probably those that provide a better framework to aggregate different disciplines. This idea is clearly reflected in the multidisciplinary applications in biomechanics that use multibody dynamics to describe the motion of the biological entities, or in finite elements where the multibody dynamics provides powerful tools to describe large motion and kinematic restrictions between system components, or in system control for which multibody dynamics are the prime form of describing the systems under analysis, or even in applications with fluid-structures interaction or aeroelasticity. This book contains revised and enlarged versions of selected communications presented at the ECCOMAS Thematic Conference in Multibody Dynamics 2003 that took place in Lisbon, Portugal, which have been enhanced in their self-containment and tutorial aspects by the authors. The result is a comprehensive text that constitutes a valuable reference for researchers and design engineers and helps to appraise the potential of application of multibody dynamics to a wide range of scientific and engineering areas of relevance.
Download or read book Dynamics of Underactuated Multibody Systems written by Robert Seifried and published by Springer Science & Business Media. This book was released on 2013-11-08 with total page 257 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Virtual Nonlinear Multibody Systems written by Werner Schiehlen and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 457 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains an edited versIOn of lectures presented at the NATO ADVANCED STUDY INSTITUTE on VIRTUAL NONLINEAR MUL TIBODY SYSTEMS which was held in Prague, Czech Republic, from 23 June to 3 July 2002. It was organized by the Department of Mechanics, Faculty of Mechanical Engineering, Czech Technical University in Prague, in cooperation with the Institute B of Mechanics, University of Stuttgart, Germany. The ADVANCED STUDY INSTITUTE addressed the state of the art in multibody dynamics placing special emphasis on nonlinear systems, virtual reality, and control design as required in mechatronics and its corresponding applications. Eighty-six participants from twenty-two countries representing academia, industry, government and research institutions attended the meeting. The high qualification of the participants contributed greatly to the success of the ADVANCED STUDY INSTITUTE in that it promoted the exchange of experience between leading scientists and young scholars, and encouraged discussions to generate new ideas and to define directions of research and future developments. The full program of the ADVANCED STUDY INSTITUTE included also contributed presentations made by participants where different topics were explored, among them: Such topics include: nonholonomic systems; flexible multibody systems; contact, impact and collision; numerical methods of differential-algebraical equations; simulation approaches; virtual modelling; mechatronic design; control; biomechanics; space structures and vehicle dynamics. These presentations have been reviewed and a selection will be published in this volume, and in special issues of the journals Multibody System Dynamics and Mechanics of Structures and Machines.
Download or read book Computational Flexible Multibody Dynamics written by Bernd Simeon and published by Springer Science & Business Media. This book was released on 2013-06-14 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph, written from a numerical analysis perspective, aims to provide a comprehensive treatment of both the mathematical framework and the numerical methods for flexible multibody dynamics. Not only is this field permanently and rapidly growing, with various applications in aerospace engineering, biomechanics, robotics, and vehicle analysis, its foundations can also be built on reasonably established mathematical models. Regarding actual computations, great strides have been made over the last two decades, as sophisticated software packages are now capable of simulating highly complex structures with rigid and deformable components. The approach used in this book should benefit graduate students and scientists working in computational mechanics and related disciplines as well as those interested in time-dependent partial differential equations and heterogeneous problems with multiple time scales. Additionally, a number of open issues at the frontiers of research are addressed by taking a differential-algebraic approach and extending it to the notion of transient saddle point problems.
