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Full Description
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.
Contents
Preface, by Josep M. Font-Llagunes.- Numerical integration
of underactuated mechanical systems subjected to mixed holonomic and servo
constraints, by Peter Betsch, Robert Altmann, Yinping Yang.- Enhancing the
Performance of the DCA When Forming and Solving the Equations of Motion for
Multibody Systems, by Jeremy J. Laflin, Kurt S. Anderson, Mike Hans.- Three-Dimensional
Non-linear Shell Theory for Flexible Multibody Dynamics, by Shilei Han and
Olivier A. Bauchau.- On the Frictional Contacts in Multibody System Dynamics,
by Filipe Marques, Paulo Flores, Hamid M. Lankarani.- Modeling and simulation
of a 3D printer based on a SCARA mechanism, by Eduardo Paiva Okabe and
Pierangelo Masarati.- Structure Preserving Optimal Control of a Three-Dimensional
Upright Gait, by Michael W. Koch and Sigrid Leyendecker.- Robotran-YARP
interface: a framework for real-time controller developments based on multibody
dynamics simulations, by Timothée Habra, Houman Dallali, Alberto Cardellino, Lorenzo
Natale, Nikolaos Tsagarakis, Paul Fisette and Renaud Ronsse.- Wheel-Ground
modeling in planetary exploration: From unified simulation frameworks towards heterogeneous,
multi-tier wheel ground contact simulation, by Roy Lichtenheldt, Stefan
Barthelmes, Fabian Buse, Matthias Hellerer.- Intervention-Autonomous Underwater
Vehicle multibody models for dynamic manipulation tasks, by R. Conti, R.
Costanzi, F. Fanelli, E. Meli, A. Ridolfi and B. Allotta.- Development of a Musculotendon
Model within the Framework of Multibody Systems Dynamics, by Ana R. Oliveira,
Sérgio B. Gonçalves, Mamede de Carvalho, Miguel T. Silva.- Numerical and
Experimental Study on Contact Force Fluctuation between Wheel and Rail
Considering Rail Flexibility and Track Conditions, by Saki Ienaga, Yoshiaki Terumichi,
Kazuhiko Nishimura, Minoru Nishina.- Use of Flexible Models
in Extended Kalman Filtering Applied to Vehicle Body Force Estimation, by Sebastiaan
van Aalst, Frank Naets, Johan Theunissen and Wim Desmet.- Design and Control of
an Energy-Saving Robot Using Storage Elements and Reaction Wheels, by Makoto
Iwamura, Shunichi Imafuku, Takahiro Kawamoto and Werner Schiehlen.- Exploiting the equations of motion for biped
robot control with enhanced stability, by Johannes Mayr, Alexander Reiter,
Hubert Gattringer, Andreas Müller.
