Search Results (150)

Inertial Measurement Units (IMUs) enable portable, multibody motion capture in diverse environments beyond the laboratory, making them a desirable choice for diagnosing mobility disorders and supporting rehabilitation in clinical or home settings. However, challenges associated with IMU measurements, including magnetic distortions and errors due to integration drift, complicate their broader use for motion capture. In this work, we propose a tightly coupled motion-capture approach that directly integrates IMU measurements with multibody dynamic models via an iterated extended Kalman filter to simultaneously estimate the system’s kinematics and kinetics. By enforcing the complete multibody system dynamics and utilizing only accelerometer and gyroscope data, our method accurately estimates joint kinematics and kinetics. Our algorithm is designed to fuse different sensor data, such as optical motion-capture measurements and joint torque readings, to further enhance estimation accuracy. We validated our approach using highly accurate ground-truth data from a 3-degree-of-freedom pendulum and a 6-degree-of-freedom collaborative robot. We demonstrate a maximum root-mean-square difference of 3.75° in the pendulum’s computed joint angles with respect to the marker motion-capture inverse kinematics. For the robot, we observed a maximum joint angle root-mean-square difference of 3.24° with respect to the joint encoders, while the maximum joint angle root-mean-square difference of the optical motion-capture inverse kinematics with respect to the encoders was 1.16°. With regard to kinetic estimates, we report a maximum joint torque root-mean-square difference of 3.02 Nm in the pendulum with respect to the marker motion-capture inverse dynamics and 4.27 Nm in the robot relative to its joint torque sensors. Full article

Background: Mountain biking is increasingly popular but carries a large risk of severe trunk and spinal injuries. However, realistic crash scenarios for back protector design remain poorly characterized. This study aimed to define trunk impact conditions during mountain biking crashes. Methods: A multi-body model for mountain bike accident reconstruction was developed, and its kinematics were validated against real-world crash video footage. The model was then used to assess the influence of initial conditions (speed, slope, crash cause, etc.) on trunk impact kinematics (velocities, forces, pseudo-energy) and spinal loading indicators during forward crashes. Results: Across 288 simulated crashes, the median normal trunk impact velocity (4.61 m/s) and pseudo-energy (48 J) aligned with current test standards, while substantial tangential (5.97 m/s) and rotational (4.90 rad/s) components were also observed. Three main impact types emerged: head–thorax impacts (43.5%), involving a head impact followed by chest impact (Vn: 5.42 m/s, Emax: 59 J); tumbling (25.1%), featuring a head impact followed by back impact (Vn: 3.98 m/s, Emax: 57 J); and overflip–back impacts (20.7%), involving direct back contact (Vn: 3.35 m/s, Emax: 47 J). Conclusion: This study’s results define trunk impact conditions during MTB crashes, informing on realistic boundary conditions for testing and designing back protectors. Full article

This study presents the development and validation of a simulation-calibrated kinematic formulation for a three-wheeled symmetric pipeline inspection robot operating under cylindrical confinement. The proposed model integrates analytical implementation in MATLAB 2023b with multibody simulation in SolidWorks 2023 to identify semi-empirical correction terms that improve motion prediction under straight and curved pipe conditions. The formulation incorporates curvature-dependent and asymmetry-related effects derived from structured simulation datasets, ensuring consistency between analytical predictions and simulated behavior within the evaluated operating range. Quantitative comparison using statistical indicators demonstrates strong agreement between both approaches, with MAE values of 0.0547 for linear velocity and 13.96 for displacement, RMSE values of 0.0681 and 19.0401, and coefficients of determination of $R^2=0.9997$ and $R^2=0.9476$, respectively. Slightly larger deviations are observed at higher rotational speeds. The results provide a consistent analytical representation of the robot’s motion under the studied geometric constraints and establish a basis for future experimental validation and control-oriented extensions in confined pipeline environments. Full article

Multi-body separation of flight vehicles is challenged by potential collisions that critically affect dynamic stability. This study develops a numerical method for simulating coupled aerodynamics, kinematics, and collision dynamics. Building upon a conventional computational fluid dynamics/rigid body dynamics (CFD/RBD) framework, the proposed approach integrates a collision dynamics model based on impulse–momentum theory and Coulomb’s friction law, together with a parallelized collision detection algorithm employing edge-face bounding boxes. A loosely coupled staggered solution scheme is established to effectively overcome the limitation of overset mesh in handling colliding bodies. The method is validated through store separation and rigid sphere collision, confirming its capability in resolving aerodynamic/kinematic coupling and normal/tangential collision responses. Application to a cluster munition separation case reveals shell behaviors at distinct initial velocities and identifies a critical safety boundary when the initial shell separation velocity reaches 3.25 times the projectile velocity, defining kinematic and aerodynamic threshold criteria for collision-free separation. Quantitative error analysis shows that the velocity and angular velocity errors from the aerodynamic approximation remain below 2.5% of the collision-induced increments, confirming the method’s engineering accuracy. Flowfield analysis shows that lower velocities result in severe shock interference and collision, whereas higher velocities enable rapid clearance, aerodynamic recovery, and clean separation. Full article

The biomechanics of frog jumping has been a subject of significant interest in both biology and engineering, driven by the high efficiency of their movement. This study presents the dynamic simulation of a frog’s complete jump cycle, from take-off to landing and re-stabilization, to advance the development of bio-inspired jumping robots for irregular terrains. As a primary contribution, and unlike previous studies that focus exclusively on the propulsion phase, this work addresses all stages, using direct servomotor actuation without mechanical energy storage. Biological joint kinematics were mathematically characterized using Cubic Smoothing Splines. By empirically tuning the smoothing parameter ($p$), the trajectories achieved the continuous differentiability required for electromechanical actuation. These curves were implemented into a 3D multibody simulation (Altair Inspire), where a PID-based tracking framework managed the mechanically nonlinear multibody dynamics governing the jump (arising from contact forces, impacts, and time-varying inertial effects) to ensure stabilization during the complex landing phase. Validating the model against previous studies, the simulation successfully achieved a maximum horizontal jump distance of 24.12 cm (4.02 body lengths) and a peak velocity of 1.45 m/s. The kinematic fidelity of the model was mathematically validated, yielding a maximum Normalized Root Mean Square Error (NRMSE) of 4.121% relative to biological reference trajectories. Furthermore, the robustness of the landing and re-stabilization phases was demonstrated through a continuous double jump covering a total distance of 45.83 cm. Finally, a dynamic scaling analysis was performed to evaluate the feasibility of implementing real motors. Ultimately, this study establishes a mathematically robust framework for replicating frog-inspired jumping dynamics, contributing a transferable methodology for the design and control of articulated bio-inspired robotic systems. Full article

The selective harvesting of leaves from flexible-stem crops remains a major challenge in agricultural mechanization due to stem compliance, heterogeneous petiole strength, and unstable tool–crop interaction. To address these issues, a bio-inspired ring-cutting and compliant clamping harvesting mechanism is proposed for low-damage selective harvesting under complex terrain conditions. Inspired by the adaptive attachment behavior of octopus suckers, a flexible compliant clamping interface combined with a ring-shaped sliding cutting structure was developed to stabilize flexible stems during harvesting. A coupled kinematic–force analytical model was established to characterize the interaction between tool motion, stem feeding, and cutting behavior. In addition, a sliding cutting mechanics model was introduced to analyze the relationship between cutting force and sliding angle. Dynamic multibody simulations were performed using ADAMS to verify the motion feasibility and trajectory stability of the proposed harvesting mechanism. Bench-scale experiments were conducted using mulberry branches as a representative flexible-stem crop, and a response surface methodology based on a Box–Behnken experimental design was applied to optimize key operational parameters. The optimal parameter combination included a chain linear speed of 0.18 m·s⁻¹, a feeding speed of 0.30 m·s⁻¹, and an installation angle of 36°. Under these conditions, the missed harvest rate was reduced to 9.2–9.8%, demonstrating improved harvesting stability compared with conventional rigid cutting mechanisms. The results indicate that integrating compliant stabilization with sliding cutting provides an effective engineering strategy for selective harvesting of flexible-stem crops in complex agricultural environments. Full article

Human squat motion is commonly analyzed using inverse dynamics, where joint moments are computed from experimentally measured kinematics. Such analyses typically assume that the observed motion is mechanically feasible and do not explicitly account for limitations of joint moment capacity. In this study, a computational framework is proposed for the load-constrained reconstruction of squat motion that integrates kinematic motion generation with a mechanical model of moment-limited joints. The human body is represented as a multi-segment system consisting of feet, shanks, thighs, pelvis, and torso. Joint behavior is modeled using nonlinear rotational springs with bounded moment capacity, allowing elastic response followed by allowing bounded moment response and redistribution of mechanical demand as critical moment levels are approached. A reference squat trajectory is first generated kinematically, after which a constrained optimization problem is solved at each motion frame to obtain a mechanically admissible posture under external loading. The objective function combines trajectory tracking with joint energy contributions, while gravitational loading from a barbell applied at the shoulders introduces external work. The formulation enables automatic correction of the reference motion when joint moment limits are exceeded, resulting in mechanically admissible squat postures. Numerical examples illustrate the evolution of pelvis trajectory, torso inclination, lower-limb segment angles, and reconstructed body configurations throughout the squat cycle. The results confirm that joint moment capacity directly influences the reconstructed motion and leads to load-dependent adaptation of squat posture. Full article

This paper presents an iterative graph-analytical procedure for determining the roll center height, one of the most critical design parameters influencing vehicle dynamic behavior during cornering. The conventional approaches generally determine roll center locations from suspension kinematics and then evaluate vehicle behavior using multibody or numerical vehicle dynamics models. By contrast, the proposed method is intended for the preliminary design stage and provides a direct correlation between front and rear target roll center heights using tire test data, load transfer and axle-level equilibrium conditions. The main advantage of the method is that it helps define a feasible design space before detailed geometry optimization or MBD validation is performed. The objective is to achieve stable and neutral handling (avoiding intrinsic understeer or oversteer tendencies) during steady-state cornering at a predefined target lateral acceleration. The methodology integrates (i) lateral force equilibrium at the axle level, (ii) a dynamic load transfer model based on axle roll stiffness and roll center heights, and (iii) experimental tire grip characteristics (lateral force–slip angle curves under varying vertical loads), processed through numerical interpolation. The procedure is demonstrated using a vehicle model with specific geometric and mass parameters. The results indicate that the methodology does not yield a single unique solution, but rather a set of correlated roll center heights, allowing the designer to select the most feasible geometric configuration while maintaining neutral handling. As an example, the paper presents a convergent solution for the front and rear roll center heights that satisfy neutrality conditions at a slip angle of approximately 4°. This study provides a fundamental framework for the geometric design of suspension systems and serves as a basis for subsequent numerical and experimental validation. Full article

This study develops a reduced-order predictive model of the Sit-To-Stand (STS) task to examine whether a simplified biomechanical representation can reproduce key STS patterns reported in the literature and to investigate the role played in movement by a flexible trunk. The model represents the human body as a planar multibody system and formulates STS as an optimization problem within a discrete mechanics framework. This formulation combines reduced model complexity, explicit torso flexibility, and a structure-preserving numerical approach for trajectory generation. Simulations were used to evaluate the effects of movement duration, reduced joint strength, and seat height on joint torques, kinematics, trunk motion, and ground reaction forces (GRFs). The results reproduced several qualitative trends reported in previous experimental studies, including increased peak joint torques and GRFs with shorter movement duration, lower joint strength, and reduced seat height, as well as greater compensatory trunk motion under more demanding conditions. These findings suggest that the proposed framework captures key adaptive features of STS mechanics and may provide useful insights for rehabilitation analysis and the design of assistive technologies such as lower-limb exoskeletons and rehabilitation devices. At the same time, the present work should be regarded as an initial methodological study, since validation is currently qualitative and further experimental calibration, quantitative validation, and sensitivity analysis remain part of ongoing work. Full article

To address the problems of uneven stubble height and high missed-cutting rate caused by the insufficient profiling capability of traditional forage harvesters in complex hilly terrain, this paper designs a three-degrees-of-freedom (DOF) profiling header primarily for typical hilly terrain with gentle slopes of 8–15°. Through pitch, roll, and height adjustments, it stably maintains stubble height at 150 mm. Subsequently, geometric analysis and structural optimization achieved kinematic decoupling among all degrees of freedom, thereby overcoming the inherent limitations of the two-DOF header, such as poor adaptability to longitudinal slope and strong adjustment coupling. Three-dimensional modeling was completed in SolidWorks, multibody dynamics simulation was performed in ADAMS, and a profiling control system incorporating a hydraulic system, multi-source sensor fusion, and a fuzzy PID controller was built. The dynamics simulation results show that under the working conditions of 15° longitudinal and 10° transverse slopes, the stubble height error of the header is controlled within 10%, the attitude angle adjustment error is less than 0.5°, and the dynamic response is excellent. Prototype field tests showed that, compared with the two-DOF header, the three-DOF profiling header improved the stubble height stability by about 35%, reduced the missed-cutting rate by about 5%, and increased the operating efficiency by about 15%. No cutting blade contact with the soil occurred, verifying the rationality of the mechanism design and its adaptability to terrain. This study provides an effective technical solution for improving the mechanization level of forage harvesting in hilly and mountainous areas. Full article

A multibody simulation model for deep-groove ball bearings is presented. The model considers friction in both the raceway and cage contacts, resulting from radial and axial loads. The model is validated against experimental measurements for a 6319 bearing under oil-bath lubrication over a speed range of 500–3000 min⁻¹ and two load ratios ($C/P=10$ and 6.5). Predicted friction torques show good agreement with measurements, with deviations between 5.5% and 22% at moderate speeds. In addition, electrical contact capacitances are calculated for a 6208 bearing and compared with an analytical approach, showing deviations in the range of 10–14%. Beyond friction prediction, the fully dynamic approach enables time-resolved analysis of roller kinematics and the identification of instability limits under axial excitation. The developed tool therefore enables reliable bearing loss prediction, supports efficiency-oriented drivetrain design, and provides a basis for electro-tribological and stability investigations. Full article

Experimental studies on the spontaneous nucleon emission in nuclei around the drip line enable us to explore new isotopes or resonant states, and to reveal exotic structures and decay properties of nuclei located far from the $\mathsf{\beta }$ stability line; consequently, they are of critical importance for probing limits of nuclear stability and understanding nucleon–nucleon interactions under extreme conditions of isospin asymmetry. With the radioactive isotope beam ²⁰Mg provided by the National Superconducting Cyclotron Laboratory at Michigan State University, we studied the proton decays of nuclei around the proton drip line at $A\sim 20$ mass region. Complete-kinematics measurements were performed for proton decays of one-proton resonant states in ¹⁸Na, two-proton resonant states in ²⁰Mg, three-proton resonant states in ²¹Al, and four-proton resonant states in ¹⁸Mg, yielding decay energy spectra for all four nuclei. With the invariant mass method, the ground state of ¹⁸Na was firmly identified, clarifying previous ambiguities of its position. The isotope ¹⁸Mg, which is located two neutrons beyond the proton drip line, was experimentally observed for the first time. Multi-body correlation analysis of emitted protons from ²⁰Mg, ²¹Al, and ¹⁸Mg, combined with Monte Carlo simulations, reveals that the identified resonant states in ²⁰Mg and ²¹Al predominantly decay via two and three sequential steps of $1p$ emission, respectively, whereas the ¹⁸Mg ground state decays mainly through a two-step cascade of prompt $2p$ emission. Full article

Lower-limb rehabilitation exoskeletons must balance biomechanical compatibility, structural safety, and low mass to enable practical, repeatable gait assistance. This paper proposes a planar pantograph-derived exoskeleton leg driven by a Chebyshev Lambda linkage and develops an integrated workflow from mechanism synthesis to manufacturable optimization and experimental verification. A mannequin-coupled multibody model was built in MSC ADAMS to evaluate joint kinematics, end-point (foot) trajectories, and joint reaction forces under multiple scenarios (fixed-frame, ramp, stair ascent, and inclined-plane walking). The extracted joint loads were transferred to a parametric finite element model in ANSYS Workbench 2019, where response surface surrogates and a multi-objective genetic algorithm (MOGA) were used to minimize mass under stiffness and strength constraints. For the optimized load-bearing link, the selected minimum-mass design reached a component mass of 0.542 kg while respecting the imposed structural limits, i.e., a maximum total deformation below 0.2 mm and a maximum equivalent (von Mises) stress below 50 MPa (e.g., ~0.188 mm deformation and ~39 MPa stress in the optimal candidate). A rapid prototype was manufactured by 3D printing and experimentally evaluated using CONTEMPLAS high-speed video tracking, providing measured X_M(t) and Y_M(t) trajectories and joint-angle histories for quantitative comparison with simulations via RMSE metrics. Full article

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 constraints, which can increase numerical complexity and sensitivity, particularly in closed-chain systems. In this work, DBD is presented as a unified framework that combines a new modeling approach with a new numerical solution strategy. Mechanical joints are modeled explicitly using sets of springs and dampers, replacing ideal constraints and transforming the governing equations from a differential-algebraic system into a purely differential one. Based on this modeling framework, the numerical solution avoids global matrix operations and relies on element-wise computations, resulting in linear computational complexity with respect to the number of bodies. The numerical performance of the DBD method is investigated using a set of closed-chain benchmark systems, which are known to be challenging for conventional constraint-based solvers. The analysis examines the influence of joint stiffness, system dynamics, time-step selection, and mechanism topology on numerical stability, energy dissipation, and computational efficiency. The results show that DBD maintains robust and accurate solutions across the examined scenarios and exhibits a well-defined operating region with low numerical dissipation. Across the examined compliant-joint benchmarks, DBD shows the potential for up to three orders of magnitude lower energy drift at comparable simulation-time-to-real-world time (SRT), or up to about one order of magnitude higher SRT at comparable energy drift, relative to ADAMS/View. These findings indicate that DBD is well suited for the simulation of realistic multibody systems with compliant joints, including closed-chain configurations. Full article

The calibration of suspension geometry involves highly nonlinear kinematic relationships and leads to challenging optimization landscapes that are difficult to explore efficiently with classical local methods. Quadratic Unconstrained Binary Optimization (QUBO) provides a unified discrete formulation that enables the use of a wide range of metaheuristic solvers, but its practical behavior in realistic engineering-inspired problems remains insufficiently benchmarked. This paper presents a computational benchmarking study of classical, parallel, and hybrid metaheuristic solvers applied to a QUBO-formulated double wishbone suspension geometry problem. A symbolic multi-body kinematic model is constructed and discretized into a large-scale QUBO instance capturing camber and caster tracking objectives across multiple roll conditions. Using a fixed low-resolution binary encoding, we systematically evaluate solver performance in terms of objective value, runtime, and time-to-solution trade-offs. The benchmark includes standard simulated annealing and tabu search, parallel simulated annealing, population-based annealing, bandit-controlled hybrid heuristics, and continuous-relaxation-based ADMM methods with and without annealing refinement. Extensive experiments conducted on a Euro-HPC pre-exascale system demonstrate that parallel and hybrid solvers can achieve substantial reductions in wall-clock time—often exceeding two orders of magnitude—while attaining objective values comparable to classical simulated annealing. The results reveal clear trade-offs between solution quality and computational efficiency, and highlight how solver structure influences performance on large QUBO instances derived from symbolic engineering models. Rather than focusing on final design optimality, this study provides a reproducible reference benchmark and practical insights into solver behavior for QUBO-based engineering optimization problems. Full article