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Direct Sensitivity Analysis of Multibody Systems With Holonomic and Nonholonomic Constraints via an Index-3 Augmented Lagrangian Formulation With Projections
(2018)
[Abstract] Optimizing the dynamic response of mechanical systems is often a necessary step during the early stages of product development cycle. This is a complex problem that requires to carry out the sensitivity analysis ...
Assessment of Linearization Approaches for Multibodydynamics Formulations
(2017-07)
[Abstract] Formulating the dynamics equations of a mechanical system following a multibody dynamics approach often leads to a set of highly nonlinear Differential Algebraic Equations (DAEs). While this form of the equations ...
Performance indicators for wheeled robots traversing obstacles
(2020-04)
[Abstract] An important element of wheeled robot operations on uneven and unstructured terrain is the ability to overcome obstacles. In this letter, we deal with a part of this obstacle negotiation problem. We particularly ...
Behaviour of Augmented Lagrangian and Hamiltonian Methods for Multibody Dynamics in the Proximity of Singular Configurations
(2016-04)
[Abstract] Augmented Lagrangian methods represent an efficient way to carry out the forward-dynamics simulation of mechanical systems. These algorithms introduce the constraint forces in the dynamic equations of the system ...
Use of performance indicators in the analysis of running gait impacts
(2018)
[Summary]
Foot-ground impact is a critical event during the running cycle. In this work, three performance indicators were used to characterize foot-ground impact intensity: the effective preimpact kinetic energy, ...
Effect of gravity in wheel/terrain interaction models
(2020)
[Abstract] Predicting the motion of wheeled robots in unstructured environments is an important and challenging problem. The study of planetary exploration rovers on soft terrain introduces the additional need to consider ...
A benchmark problem with singularities for multibody system dynamics formulations with constraints
(Springer, 2023-04-19)
[Abstract]
When performing the numerical integration of multibody systems (MBS) dynamics, it is possible to choose from a wide variety of methods and implementations. Selecting the most appropriate option for a particular ...
A novel concept for analysis and performance evaluation of wheeled rovers
(Elsevier, 2015-01)
[Abstract] - The analysis, design, and operation planning of rovers are often based on predictive dynamic simulation, where the multibody model of the vehicle is combined with terramechanics relations for the representation ...
Energy-based monitoring and correction to enhance the accuracy and stability of explicit co-simulation
(Springer, 2022)
[Abstract] The simulation of complex engineering applications often requires the consideration of component-level dynamics whose nature and time-scale differ across the elements of which the system is composed. Co-simulation ...
Index-3 divide-and-conquer algorithm for efficient multibody system dynamics simulations: theory and parallel implementation
(Springer, 2019)
[Abstract] There has been a growing attention to efficient simulations of multibody systems, which is apparently seen in many areas of computer-aided engineering and design both in academia and in industry. The need for ...