Multibody System Dynamics最新文献_第9页

Command shaped trajectory tracking control for a two-link flexible manipulator 双连杆柔性机械臂命令形轨迹跟踪控制

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-27 DOI: 10.1007/s11044-023-09947-z

Sandeep Kumar, Subir Kumar Saha, Ashish Singla, Satinder Paul Singh, Tarun Kumar Bera

引用次数: 0

Spatial locomotion of a metameric earthworm-like robot: generation and analysis of gaits 类蚯蚓机器人的空间运动:步态的生成与分析

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-26 DOI: 10.1007/s11044-023-09943-3

Qiwei Zhang, Jian Xu, Hongbin Fang

引用次数: 0

Exudyn – a C++-based Python package for flexible multibody systems Exudyn——一个基于c++的Python包，用于灵活的多体系统

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-09 DOI: 10.1007/s11044-023-09937-1

Johannes Gerstmayr

引用次数: 2

Investigation of the driving characteristics of electric bicycles by means of multibody simulation 基于多体仿真的电动自行车行驶特性研究

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-09 DOI: 10.1007/s11044-023-09940-6

Johannes Bolk, Burkhard Corves

引用次数: 0

Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs 基于DAEs建模的缆索驱动并联机器人扩展卡尔曼滤波器综合的数值与实验研究

2区工程技术

Multibody System Dynamics Pub Date : 2023-10-09 DOI: 10.1007/s11044-023-09941-5

Jason Bettega, Giovanni Boschetti, Borja R. Frade, Francisco González, Giulio Piva, Dario Richiedei, Alberto Trevisani

{"title":"Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs","authors":"Jason Bettega, Giovanni Boschetti, Borja R. Frade, Francisco González, Giulio Piva, Dario Richiedei, Alberto Trevisani","doi":"10.1007/s11044-023-09941-5","DOIUrl":"https://doi.org/10.1007/s11044-023-09941-5","url":null,"abstract":"Abstract Cable-driven parallel robots are parallel robots where light-weight cables replace rigid bodies to move an end-effector. Their peculiar design allows obtaining large workspaces, high-dynamic handlings, ease of reconfigurability and, in general, low-cost architecture. Knowing the full state variables of a cable robot may be essential to implement advanced control and monitoring strategies and imposes the development of state observers. In this work a general approach to develop nonlinear state observers based on an extended Kalman filter (EKF) is proposed and validated both numerically and experimentally by referring to a cable-suspended parallel robot. The state observer is based on a system model obtained by converting a set of differential algebraic equations into ordinary differential equations through different formulations: the penalty formulation, the Udwadia–Kalaba formulation, and the Udwadia–Kalaba–Phohomsiri formulation, which have been chosen since they can handle the presence of redundant constraints as often happens in cable-driven parallel robots. In the numerical investigation, the EKF is validated simulating encoders heavily affected by quantization errors to demonstrate the filtering capabilities of EKF. In the experimental investigation, a very challenging validation is proposed: only two sensors measuring the rotations of two motors are used to estimate the actual position and velocity of the end-effector. This result cannot be achieved by sole forward kinematics and clearly proves the effectiveness of the proposed observer.","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135142113","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

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":null,"pages":null},"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

引用次数: 0

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":null,"pages":null},"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

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

引用次数: 0