The Furuta pendulum is a well-known benchmark in the field of underactuated mechanical systems due to its reduced number of control inputs compared to its degrees of freedom, and richly nonlinear behavior. This work addresses the challenge of accurat...
Numerical analysis of a multibody mechanism moving in the air is a complicated problem in computational fluid dynamics (CFD). Analyzing the motion of a multibody mechanism in a commercial CFD software, i.e., ANSYS Fluent®, is a challenging issue....
Heavy machinery has evolved significantly in productivity, efficiency, and safety over the past century and a half, where most technological advances occurred after the 1990s. The field of multibody dynamics has significantly contributed to this deve...
The aim of this work is to explore the suitability of adaptive methods for state estimators based on multibody dynamics, which present severe non-linearities. The performance of a Kalman filter relies on the knowledge of the noise covariance matrices...
Multibody modeling of mechanical systems can be applied to various applications. Human-in-the-loop interfaces represent a growing research field, for which increasingly more devices include a dynamic multibody model to emulate the system physics in r...
Insects use dynamic articulation and actuation of their abdomen and other appendages to augment aerodynamic flight control. These dynamic phenomena in flight serve many purposes, including maintaining balance, enhancing stability, and extending maneu...
Currently, multibody dynamics simulations are moving away from issues exclusive to dynamics to more multiphysical problems. Most mechanical systems contain contact pairs that influence the dynamics of the entire mechanism, such as friction loss, wear...
In this investigation, different computational methods for the analytical development and the computer implementation of the differential-algebraic dynamic equations of rigid multibody systems are examined. The analytical formulations considered in t...
In this paper, a multibody calculation methodology has been applied to the vibration analysis of a 4-cylinder, 4-stroke, turbocharged diesel engine, with a simulation driven study of the angular speed variation of a crankshaft under consideration of...
In the present work, different algorithms for contact detection in multibody systems based on smooth contact modelling approaches are presented. Beginning with the simplest ones, some difficult interactions are subsequently introduced. In addition, a...
Digital twins of industrial and collaborative robots are widely used to evaluate and predict the behavior of manipulators under different control strategies. However, these digital twins often employ simplified mathematical models that do not fully d...
During the service process of a bearingless motorized spindle (BLMS), its parameters change with both time and external conditions, leading to a decrease in the accuracy of the motorized spindle. Therefore, it is difficult to accurately describe the...
Numerical models of the musculoskeletal system as investigative tools are an integral part of biomechanical and clinical research. While finite element modeling is primarily suitable for the examination of deformation states and internal stresses in...
Multibody system dynamics is already a well developed branch of theoretical, computational and applied mechanics. Thousands of documents can be found in any of the well-known scientific databases. In this work it is demonstrated that multibody system...
A piano key prototype actuated by a custom-made linear actuator is proposed to enhance the touch of digital pianos by reproducing the force feedback of an acoustic piano action. This paper presents the design and the validation of the haptic device....
In this work, a multibody model of a small size farming tracked vehicle is shown. Detailed models of each track were coupled with the rigid body model of the vehicle. To describe the interaction between the track and the ground in case of deformable...
This paper develops a new implicit solution procedure for multibody systems based on a three-sub-step composite method, named TTBIF (trapezoidal–trapezoidal backward interpolation formula). The TTBIF is second-order accurate, and the effective...
This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs). Firs...
This paper elaborates on the modeling and control of an Unmanned Aerial Vehicle (UAV) for delivery purposes, thereby integrating computer-aided design, multibody dynamic modeling, and motion control analysis in a unified framework. The UAV system des...
Bicycles and motorcycles are characterized by large rider-to-vehicle mass ratios, thus making estimation of the rider’s inertia especially relevant. The total inertia can be derived from the body segment inertial properties (BSIP) which, in tur...
Input shaping is an Optimal Control feedforward strategy whose ability to define how and when a flexible dynamical system defined by Ordinary Differential Equations (ODEs) and computer controlled would move into its operative space, without command i...
Within the framework of Space@Sea project, an articulated modular floating structure was developed to serve as building blocks for artificial islands. The modularity was one of the key elements, intended to provide the desired flexibility of addition...
Developing the analytical model of a multibody system is often the initial step in control and optimization. The analytical model (equations of motion) describes a system’s time evolution under specified forcing conditions. Although developing...
In this paper, the use of the MaxInf Principle in real optimization problems is investigated for engineering applications, where the current design solution is actually an engineering approximation. In industrial manufacturing, multibody system simul...
In this paper, a novel method to determine the center of mass position of each link of human-like multibody biped robots is proposed. A first formulation to determine the total center of mass position has been tested in other works on a biped platfor...
The employment of vehicles such as rovers equipped with automictic and robotic systems in agriculture is an emerging field. The development of suitable simulation models can aid in the design and testing of agricultural rovers before prototyping. Her...
This paper addresses the phenomenon of sloshing and the issues that arise during liquid handling at visual inspection stations. The pharmaceutical industry, recently put under pressure by the pandemic, has long adopted modular solutions consisting ma...
Parameter estimation plays an important role in improving the accuracy, control, and diagnostic performance of mechanisms, particularly in parallel mechanisms such as the Stewart platform, which are increasingly used in high-precision automation, adv...
This paper proposes a parallel direct solution of flexible multibody systems based on block Gaussian elimination. The Craig–Bampton method is utilized to model flexible bodies within the multibody system, resulting in a reduction in the size of...
The accurate motion of roller-bearing-supported rings is critically influenced by shape and positional tolerances, which are often underestimated in conventional modeling approaches. The aim of this study is to develop and validate a multibody dynami...
The use of flexible multibody simulation has increased significantly over recent years due to the increasingly lightweight nature of mechanical systems. The prominence of lightweight engineering design in mechanical systems is driven by the desire to...
The numerical simulation of wear of railway wheel profiles can be a game changer in the railway field, as it can drive the planning of wheel re-turning operations, thrust the identification of optimized profiles and evaluate the safety of railway veh...
Electric shovels are used in surface mining operations to achieve economic production capacities. The capital investments and operating costs associated with the shovels deployed in the Athabasca oil sands formation are high due to the abrasive condi...
The dynamics of flexible multibody systems (FMBSs) is governed by ordinary differential equations or differential-algebraic equations, depending on the modeling approach chosen. In both the cases, the resulting models are highly nonlinear. Thus, they...
The topic of state estimation using multibody models combined with Kalman filters has been an active field of research for more than 15 years now. Through state estimation, virtual sensors can be used to increase the knowledge of a system, measuring...
Model-based force estimation is an emerging methodology in the mechatronic community given the possibility to exploit physically inspired high-fidelity models in tandem with ready-to-use cheap sensors. In this work, an inverse input load identificati...
Discrete Body Dynamics (DBD) is a recently developed approach for solving multibody dynamics problems that aims to improve the numerical treatment of systems with joint compliance. Conventional multibody formulations typically rely on kinematic const...
This paper describes the kinematics used for the calculation of track geometric irregularities of a new Track Geometry Measuring System (TGMS) to be installed in railway vehicles. The TGMS includes a computer for data acquisition and process, a set o...
Despite the spread of digital payment systems, banknotes still play a vital role in the lives of people, financial institutions, and businesses. Automation is crucial in all cases where a large number of deposits/withdrawals need to be handled. In sp...
The Craig–Bampton method is frequently applied in most commercial multibody dynamic software. Nevertheless, the Craig–Bampton modes only represent the free-free modes in flexible multibody systems. However, the free-free modes are incapab...
Understanding and knowing the extent of dynamic loads (forces and moments) acting on critical points of structures from the early stages of new product design allows companies to reduce product time-to-market and cut costs associated with physical va...
This study addresses the critical need to enhance productivity in industrial automatic systems by optimizing the mass of moving components. The primary challenge is determining the complex, dynamic loads on structural elements, a prerequisite for eff...
Coordinate reduction has been widely used for efficient simulation of flexible multibody dynamics. To achieve the reduction of flexible bodies with reasonable accuracy, the appropriate number of dominant modes used for the reduction process must be s...
In this paper, a multibody dynamic model of a railway vehicle that assumes that vertical and lateral dynamics are weakly coupled, has been experimentally validated using an instrumented scaled vehicle running on a 5-inch-wide experimental track. The...
Timely damage detection on a mechanical system can prevent the appearance of catastrophic damage in it, as well as allow for better scheduling of its maintenance and repair process. For this purpose, multiple signal analysis methods have been develop...
The floating offshore wind turbine provides a feasible solution for the development of renewable ocean energy. However, the sizeable rotor diameter of the wind turbine results in large wind heeling moments and pitch amplitude. It will increase the st...
This study presents a methodology for optimizing the design of the fossa component in temporomandibular joint (TMJ) prostheses, particularly in cases requiring replacement due to severe pathology or trauma. Leveraging advancements in 3D printing, the...
A spacecraft is a typical rigid–flexible–thermal coupled multibody system, and the study of such rigid–flexible–thermal coupled systems has important engineering significance. The dissipation effect of material damping has a s...
Current research on tower crane control lacks high-fidelity models and fails to account for the coupling effects between the tower crane structure and the hoisting and luffing systems. A new dynamic analysis platform based on the flexible multibody s...
Underwater vehicles’ coordination and formation have attracted increasing attention since they have great potential for real-world applications. However, such vehicles are usually under-actuated and with very limited communication capabilities....
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