Multibody System Dynamics最新文献_第9页

Estimating coach-suspension parameters through stop braking: analytical modeling and validation 通过停止制动估计客车悬架参数:分析建模和验证

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-06 DOI: 10.1007/s11044-023-09936-2

Sudhir Kumar Singh, Sanjay R. Singh, Vikranth Racherla

引用次数: 0

Multibody model of the human-inspired robot CHARMIE 仿人机器人CHARMIE的多体模型

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-06 DOI: 10.1007/s11044-023-09933-5

Fernando Gonçalves, Tiago Ribeiro, A. Fernando Ribeiro, Gil Lopes, Paulo Flores

{"title":"Multibody model of the human-inspired robot CHARMIE","authors":"Fernando Gonçalves, Tiago Ribeiro, A. Fernando Ribeiro, Gil Lopes, Paulo Flores","doi":"10.1007/s11044-023-09933-5","DOIUrl":"https://doi.org/10.1007/s11044-023-09933-5","url":null,"abstract":"Abstract The rapid ageing of the worldwide population raises pressing concerns related to ensuring proper healthcare and quality of life for older adults. A human-like mobile domestic robot, named CHARMIE, is being produced to aid in these situations by performing household chores, thus increasing the autonomy of persons with mobility limitations. The present work provides a valuable contribution to the development of CHARMIE by building a simulation environment that computes the system’s main dynamics. The obtained environment is used to evaluate the quality of the robot’s control system, to perform its structural optimization and to allow a proper selection of actuators. The system is tackled as a kinematic tree that starts on the robot’s base and then splits into three branches at the torso: the left arm, the right arm, and the head. The multibody model solves the forward kinematics and inverse dynamics of the main mechanisms by employing two recursive algorithms centred around the Newton–Euler formulation. A novel, modular, and efficient seven-step methodology was created to implement these two algorithms and program a simulator from start to finish. These seven steps include studying the system’s configuration, converting its properties into software inputs, and computing the phenomena that cannot be automatically addressed by the two recursive formulations. The presented methodology was fully validated by comparing its results to those obtained from a commercial software; the two models produced identical results.","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135351341","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Discrete adjoint method for variational integration of constrained ODEs and its application to optimal control of geometrically exact beam dynamics 约束微分方程变分积分的离散伴随法及其在几何精确梁动力学最优控制中的应用

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-06 DOI: 10.1007/s11044-023-09934-4

Matthias Schubert, Rodrigo T. Sato Martín de Almagro, Karin Nachbagauer, Sina Ober-Blöbaum, Sigrid Leyendecker

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Dynamic modeling and analysis of vehicle scissor door mechanism with mixed clearance based on a hybrid contact force model 基于混合接触力模型的混合间隙汽车剪门机构动力学建模与分析

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-06 DOI: 10.1007/s11044-023-09935-3

Suo Zhang, Yunkai Gao, James Yang

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Modelling of a 12-DoF Parachute–Riser–Payload system dynamics using Kane’s method 基于Kane方法的12自由度降落伞-隔水管-有效载荷系统动力学建模

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Multibody System Dynamics Pub Date : 2023-10-06 DOI: 10.1007/s11044-023-09939-z

Prashant G. Iyer

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Human motion capture, reconstruction, and musculoskeletal analysis in real time 实时人体动作捕捉、重建和肌肉骨骼分析

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-06 DOI: 10.1007/s11044-023-09938-0

Urbano Lugrís, Manuel Pérez-Soto, Florian Michaud, Javier Cuadrado

{"title":"Human motion capture, reconstruction, and musculoskeletal analysis in real time","authors":"Urbano Lugrís, Manuel Pérez-Soto, Florian Michaud, Javier Cuadrado","doi":"10.1007/s11044-023-09938-0","DOIUrl":"https://doi.org/10.1007/s11044-023-09938-0","url":null,"abstract":"Abstract Optical motion capture is an essential tool for the study and analysis of human movement. Currently, most manufacturers of motion-capture systems provide software applications for reconstructing the movement in real time, thus allowing for on-the-fly visualization. The captured kinematics can be later used as input data for a further musculoskeletal analysis. However, in advanced biofeedback applications, the results of said analysis, such as joint torques, ground-reaction forces, muscle efforts, and joint-reaction forces, are also required in real time. In this work, an extended Kalman filter (EKF) previously developed by the authors for real-time, whole-body motion capture and reconstruction is augmented with inverse dynamics and muscle-efforts optimization, enabling the calculation and visualization of the latter, along with joint-reaction forces, while capturing the motion. A modified version of the existing motion-capture algorithm provides the positions, velocities, and accelerations at every time step. Then, the joint torques are calculated by solving the inverse-dynamics problem, using force-plate measurements along with previously estimated body-segment parameters. Once the joint torques are obtained, an optimization problem is solved, in order to obtain the muscle forces that provide said torques while minimizing an objective function. This is achieved by a very efficient quadratic programming algorithm, thoroughly tuned for this specific problem. With this procedure, it is possible to capture and label the optical markers, reconstruct the motion of the model, solve the inverse dynamics, and estimate the individual muscle forces, all while providing real-time visualization of the results.","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"166 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135346761","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A consensus-based alternating direction method of multipliers approach to parallelize large-scale minimum-lap-time problems 基于共识的乘法器交替方向法并行化大规模最小圈速问题

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-06 DOI: 10.1007/s11044-023-09932-6

L. Bartali, E. Grabovic, M. Gabiccini

{"title":"A consensus-based alternating direction method of multipliers approach to parallelize large-scale minimum-lap-time problems","authors":"L. Bartali, E. Grabovic, M. Gabiccini","doi":"10.1007/s11044-023-09932-6","DOIUrl":"https://doi.org/10.1007/s11044-023-09932-6","url":null,"abstract":"Abstract Minimum-lap-time planning (MLTP) problems, which entail finding optimal trajectories for race cars on racetracks, have received significant attention in the recent literature. They are commonly addressed as optimal control problems (OCPs) and are numerically discretized using direct collocation methods. Subsequently, they are solved as nonlinear programs (NLPs). The conventional approach to solving MLTP problems is serial , whereby the resulting NLP is solved all at once. However, for problems characterized by a large number of variables, distributed optimization algorithms, such as the alternating direction method of multipliers (ADMM), may represent a viable option, especially when multicore CPU architectures are available. This study presents a consensus-based ADMM approach tailored to solving MLTP problems through a distributed optimization algorithm. The algorithm partitions the problem into smaller subproblems based on different sectors of a track, distributing them among multiple processors. ADMM is then used to ensure consensus among the distributed computational processes. In particular, here the term “consensus” denotes the requirement for each subproblem to achieve mutual agreement across the junction areas. The paper also outlines specific strategies leveraging domain knowledge to improve the convergence of the distributed algorithm. The ADMM approach is validated against the serial approach, and numerical results are presented for both single-lap and multilap scenarios. In both cases, the ADMM approach proves superior for problem dimensions of 70k+ variables compared to serial methods. In planning scenarios with complex vehicle models on long track horizons, i.e., for problems with 1M+ variables, the efficiency gain of the ADMM approach is substantial, and it becomes the only viable option to maintain computational times within acceptable limits.","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135351688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Cushioning performance analysis of multilayered rubber materials with nonuniform friction coefficients of corrugated contact surface under the bipotential framework 双电位框架下波纹面非均匀摩擦系数多层橡胶材料缓冲性能分析

2区工程技术

Multibody System Dynamics Pub Date : 2023-09-15 DOI: 10.1007/s11044-023-09931-7

Ling Tao, Zhiqiang Feng

引用次数: 0

ALE-ANCF circular cross-section beam element and its application on the dynamic analysis of cable-driven mechanism ALE-ANCF圆截面梁单元及其在索驱动机构动力分析中的应用

2区工程技术

Multibody System Dynamics Pub Date : 2023-09-13 DOI: 10.1007/s11044-023-09929-1

Kun Li, Zuqing Yu, Peng Lan, Qinglong Tian, Nianli Lu

引用次数: 0

Projection continuation for minimal coordinate set formulation and singularity detection of redundantly constrained system dynamics 最小坐标集的投影延拓及冗余约束系统动力学的奇异性检测

2区工程技术

Multibody System Dynamics Pub Date : 2023-09-12 DOI: 10.1007/s11044-023-09930-8

Pierangelo Masarati, M Jihad Ummul Quro, Andrea Zanoni

{"title":"Projection continuation for minimal coordinate set formulation and singularity detection of redundantly constrained system dynamics","authors":"Pierangelo Masarati, M Jihad Ummul Quro, Andrea Zanoni","doi":"10.1007/s11044-023-09930-8","DOIUrl":"https://doi.org/10.1007/s11044-023-09930-8","url":null,"abstract":"Abstract The formulation of (possibly redundantly) constrained system dynamics using coordinate projection onto a subspace locally tangent to the constraint manifold is revisited using the QR factorization of the constraint Jacobian matrix, using column pivoting to identify a suitable subspace, possibly detect any singular configurations that may arise, and extract it. The evolution of the QR factorization is integrated along with that of the constraint Jacobian matrix as the solution evolves, generalizing to redundant constraints a recently proposed true continuation algorithm that tracks the evolution of the subspace of independent coordinates. The resulting subspace does not visibly affect the quality of the solution, as it is merely a recombination of that resulting from the blind application of the QR factorization but avoids the artificial algorithmic irregularities or discontinuities in the generalized velocities that could otherwise result from arbitrary reparameterizations of the coordinate set, and identifies and discriminates any further possible motions that arise at singular configurations. The characteristics of the proposed subspace evolution approach are exemplified by solving simple problems with incremental levels of redundancy and singularity orders.","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135825554","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1