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IUTAM Symposium on Intelligent Multibody Systems - Dynamics, Control, Simulation

Author: Evtim Zahariev; Javier Cuadrado
Publisher: Cham : Springer, 2019.
Series: IUTAM Bookseries Ser.
Edition/Format:   eBook : Document : EnglishView all editions and formats
Summary:
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  Read more...
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Genre/Form: Electronic books
Additional Physical Format: Print version:
Zahariev, Evtim.
IUTAM Symposium on Intelligent Multibody Systems - Dynamics, Control, Simulation.
Cham : Springer, ©2019
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Evtim Zahariev; Javier Cuadrado
ISBN: 9783030005276 3030005275 9783030005269 3030005267 9783030005283 3030005283
OCLC Number: 1082979267
Notes: 5 Probabilistic Solutions of the Stretched Beam Systems Formulated by Finite Difference Scheme and Excited by Gaussian White Noise
Description: 1 online resource (218 pages)
Contents: Intro; Preface; Scientific Committee; Organizing Committee; Reviewers; Contents; Contributors; List of Sponsors; 1 Selected Challenges in Realistic Multibody Modeling of Machines and Vehicles; 1.1 Introduction; 1.2 Geometry in Multibody Dynamics; 1.2.1 Geometry of Curves and Surfaces; 1.2.2 Lookup Tables for Computational Efficiency; 1.2.3 Kinematic Constraints with Spatial Curves; 1.2.4 Application in a Roller Coaster Dynamics Study; 1.3 Contact Mechanics in Multibody Systems; 1.3.1 Search of Contact Between Two Generic Surfaces; 1.3.2 Simple Continuous Contact Force Models 1.3.3 Numerical Aspects of the Contact Analysis1.3.4 Selected Applications; 1.3.4.1 Circle-to-Circle and Cylinder-to-Cylinder Contact Detection; 1.3.4.2 Wheel-Rail Interaction in Railway Dynamics; 1.4 Perfect Kinematic Joints Versus Clearance Contact Joints; 1.4.1 A General Formulation of a Clearance/Bushing Joint; 1.4.2 Joint Motion Limits; 1.4.3 Application to a 3D Slider-Crank Mechanism; 1.5 Highlights and Conclusions; References; 2 Musculo-skeletal Modeling and Analysis for Low-Cost Active Orthosis Customization and SCI Patient Adaptation; 2.1 Introduction; 2.2 The Low-Cost Active KAFO 2.3 The Adaptation Process. Skeletal Models2.4 Impact on the Patient's Health. Musculo-skeletal Models; 2.5 Conclusions and Future Work; References; 3 Comparison and Analysis of Multibody Dynamics Formalisms for Solving Optimal Control Problem; 3.1 Introduction; 3.2 Optimal Control of Multibody Systems; 3.2.1 Optimal Control Formulation; 3.2.2 Numerical Optimal Control Methods; 3.3 Multibody Systems Modeling; 3.3.1 Relative Coordinates Approach; 3.3.2 Formulations of the Dynamic Equations; 3.3.2.1 Implicit Formulation; 3.3.2.2 Semi-explicit Formulation; 3.3.2.3 Explicit Formulation 3.3.3 Symbolic Generation3.4 Case Study: Unconstrained MBS; 3.4.1 System Presentation; 3.4.2 OCP Formulation; 3.4.3 Numerical Results; 3.4.3.1 Simulation Settings; 3.4.3.2 Simulation Results; 3.4.3.3 Discussion; 3.5 Conclusion; References; 4 A Recursive Driving Constraint Approach for Inverse Dynamics Modeling of Flexible Multibody Systems; 4.1 Introduction; 4.2 Modeling of Flexible Bodies Using the Floating Frame Formulation; 4.3 Modeling of the Flexible 3RPR Manipulator; 4.3.1 Coordinate System Definition; 4.3.2 Flexibility Modeling; 4.3.3 Kinematic Constraints 4.4 Derivation of the Equations of Motion4.4.1 Mass Matrix of the Flexible Links; 4.4.2 Stiffness Matrix of the Flexible Links; 4.4.3 Coriolis and Centrifugal Forces; 4.4.4 External Forces; 4.4.4.1 Case 1: Motor Torques; 4.4.4.2 Case 2: Linear Actuator Forces; 4.4.5 General Equations of Motion of the Flexible 3RPR Manipulator; 4.5 Inverse Dynamics Analysis of the Flexible 3RPR Manipulator; 4.5.1 Inverse Kinematics and Forward Dynamics of the Rigid Manipulator; 4.5.2 Inclusion of the Driving Constraints for Flexible Coordinates; 4.6 Conclusion; References
Series Title: IUTAM Bookseries Ser.

Abstract:

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.

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