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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.
List of contents
Preface, by Josep M. Font-Llagunes.- Numerical integrationof underactuated mechanical systems subjected to mixed holonomic and servoconstraints, by Peter Betsch, Robert Altmann, Yinping Yang.- Enhancing thePerformance of the DCA When Forming and Solving the Equations of Motion forMultibody Systems, by Jeremy J. Laflin, Kurt S. Anderson, Mike Hans.- Three-DimensionalNon-linear Shell Theory for Flexible Multibody Dynamics, by Shilei Han andOlivier A. Bauchau.- On the Frictional Contacts in Multibody System Dynamics,by Filipe Marques, Paulo Flores, Hamid M. Lankarani.- Modeling and simulationof a 3D printer based on a SCARA mechanism, by Eduardo Paiva Okabe andPierangelo Masarati.- Structure Preserving Optimal Control of a Three-DimensionalUpright Gait, by Michael W. Koch and Sigrid Leyendecker.- Robotran-YARPinterface: a framework for real-time controller developments based on multibodydynamics simulations, by Timothée Habra, Houman Dallali, Alberto Cardellino, LorenzoNatale, Nikolaos Tsagarakis, Paul Fisette and Renaud Ronsse.- Wheel-Groundmodeling in planetary exploration: From unified simulation frameworks towards heterogeneous,multi-tier wheel ground contact simulation, by Roy Lichtenheldt, StefanBarthelmes, Fabian Buse, Matthias Hellerer.- Intervention-Autonomous UnderwaterVehicle multibody models for dynamic manipulation tasks, by R. Conti, R.Costanzi, F. Fanelli, E. Meli, A. Ridolfi and B. Allotta.- Development of a MusculotendonModel within the Framework of Multibody Systems Dynamics, by Ana R. Oliveira,Sérgio B. Gonçalves, Mamede de Carvalho, Miguel T. Silva.- Numerical andExperimental Study on Contact Force Fluctuation between Wheel and RailConsidering Rail Flexibility and Track Conditions, by Saki Ienaga, Yoshiaki Terumichi,Kazuhiko Nishimura, Minoru Nishina.- Use of Flexible Modelsin Extended Kalman Filtering Applied to Vehicle Body Force Estimation, by Sebastiaanvan Aalst, Frank Naets, Johan Theunissen and Wim Desmet.- Design and Control ofan Energy-Saving Robot Using Storage Elements and Reaction Wheels, by MakotoIwamura, Shunichi Imafuku, Takahiro Kawamoto and Werner Schiehlen.- Exploiting the equations of motion for bipedrobot control with enhanced stability, by Johannes Mayr, Alexander Reiter,Hubert Gattringer, Andreas Müller.
Summary
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.
