Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-257
Makoto Iwamura, Kento Hirata, Yoshiki Maeda, Kyuji Oto
{"title":"A recursive dynamics algorithm for soft robotic manipulators made of viscoelastic material","authors":"Makoto Iwamura, Kento Hirata, Yoshiki Maeda, Kyuji Oto","doi":"10.3311/eccomasmbd2021-257","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-257","url":null,"abstract":"","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129797212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-223
Louis Dambacher, B. Boudon, N. Bouton, R. Lot, Nicolas Lalande, R. Lenain
This paper proposes a control strategy to control the yaw rate of a 2-independentsteering-gears vehicle operated by a driver. The approach is based on adaptive techniques to account the slip effects. An extended kinematic model is used which takes into account slipping effects through side-slip angles. A 3-steps state observer is proposed to estimate a characteristic parameter defining the tyre-ground contact. This state observer use only the value of control variables and the yaw rate measurement of the vehicle. Thanks to the proposed approach the driver can safely steer the 2steering-gears off-road vehicle using one steering actuator without losing control at high speeds as will be the case with two independent steering actuators.
{"title":"Development of Steering Laws to Assist the Driving of a Independent Front and Rear Steering Vehicle","authors":"Louis Dambacher, B. Boudon, N. Bouton, R. Lot, Nicolas Lalande, R. Lenain","doi":"10.3311/eccomasmbd2021-223","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-223","url":null,"abstract":"This paper proposes a control strategy to control the yaw rate of a 2-independentsteering-gears vehicle operated by a driver. The approach is based on adaptive techniques to account the slip effects. An extended kinematic model is used which takes into account slipping effects through side-slip angles. A 3-steps state observer is proposed to estimate a characteristic parameter defining the tyre-ground contact. This state observer use only the value of control variables and the yaw rate measurement of the vehicle. Thanks to the proposed approach the driver can safely steer the 2steering-gears off-road vehicle using one steering actuator without losing control at high speeds as will be the case with two independent steering actuators.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113933493","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-166
Ping Zhou, A. Zanoni, P. Masarati
The formulation of 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 to extract a suitable subspace, and integrating the evolution of the QR factorization along with that of the constraint Jacobian matrix, as the solution evolves. A true continuation algorithm is thus proposed for the subspace of independent coordinates, which does not visibly affect the quality of the solution, but avoids the artificial algorithmic discontinuities in the generalized velocities that would result from arbitrary reparameterization of the coordinate set. This property is exemplified by solving simple multi-degree-of-freedom problems with and without the proposed continuation.
{"title":"Projection Continuation for Minimal Coordinate Set Dynamics of Constrained Systems","authors":"Ping Zhou, A. Zanoni, P. Masarati","doi":"10.3311/eccomasmbd2021-166","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-166","url":null,"abstract":"The formulation of 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 to extract a suitable subspace, and integrating the evolution of the QR factorization along with that of the constraint Jacobian matrix, as the solution evolves. A true continuation algorithm is thus proposed for the subspace of independent coordinates, which does not visibly affect the quality of the solution, but avoids the artificial algorithmic discontinuities in the generalized velocities that would result from arbitrary reparameterization of the coordinate set. This property is exemplified by solving simple multi-degree-of-freedom problems with and without the proposed continuation.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131223741","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-222
R. Rostamian, Thomas Wallyson, A. Szilágyi
{"title":"Dynamic Analysis of an Internal Turning Tool with Elastic Foundation (Winkler Model) ECCOMAS Thematic Conference on Multibody Dynamics 2021","authors":"R. Rostamian, Thomas Wallyson, A. Szilágyi","doi":"10.3311/eccomasmbd2021-222","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-222","url":null,"abstract":"","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115166195","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-235
M. Harant, Matthias B. Näf, K. Mombaur
{"title":"Optimization and Evaluation of Spinal Exoskeleton Design Concepts using Optimal Control","authors":"M. Harant, Matthias B. Näf, K. Mombaur","doi":"10.3311/eccomasmbd2021-235","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-235","url":null,"abstract":"","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125815460","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-245
I. Roupa, S. Gonçalves, Miguel Tavares da Silva
Kinematic analysis (KA) is a powerful tool used in the study of biomechanical systems, since it allows for the computation of the orientation of the model segments, trajectory of specific points, angular displacement of joints, among other variables of interest. Two approaches can be used to perform the kinematic analysis of multibody systems, namely, forward (FK) or inverse kinematics (IK). In the first case, the model is guided using linear and angular drivers calculated in a previous step. Afterwards, the consistent generalized coordinates are obtained by imposing the kinematic constraints that define the model. On the other hand, in IK the position and orientation of each segment is computed by minimizing the difference between the experimental data and a set of points belonging to the model, namely the coordinates of the system or other points of interest. This procedure allows for the fitting of the computational model to the experimental data.
{"title":"Kinematic Analysis of Planar Biomechanical Models using Mixed Coordinates","authors":"I. Roupa, S. Gonçalves, Miguel Tavares da Silva","doi":"10.3311/eccomasmbd2021-245","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-245","url":null,"abstract":"Kinematic analysis (KA) is a powerful tool used in the study of biomechanical systems, since it allows for the computation of the orientation of the model segments, trajectory of specific points, angular displacement of joints, among other variables of interest. Two approaches can be used to perform the kinematic analysis of multibody systems, namely, forward (FK) or inverse kinematics (IK). In the first case, the model is guided using linear and angular drivers calculated in a previous step. Afterwards, the consistent generalized coordinates are obtained by imposing the kinematic constraints that define the model. On the other hand, in IK the position and orientation of each segment is computed by minimizing the difference between the experimental data and a set of points belonging to the model, namely the coordinates of the system or other points of interest. This procedure allows for the fitting of the computational model to the experimental data.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130332270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-207
D. Jungkenn, Fabio Schneider, F. Andersson, J. Linn
Digital prototyping presents one of today’s biggest chances in boosting efficiency of product development in automotive industry. Handling flexible parts, such as cables and hoses, is a big challenge in this context. The software IPS Cable Simulation addresses this topic and solves the problem for a wide field of applications. To obtain reliable simulation results, a basic set of parameters describing the effective mechanical properties of the flexible parts is an essential part of the model. The development of the MeSOMICS measurement machine represents a practical solution to this need for experimental data. Additional challenges are related to dynamic simulations of vehicles in operation mode. To solve these, we introduced the durability and dynamics module as an extension to the established software. This leads to an extended set of required parameters. In order to obtain these dynamic parameters, two different experimental setups have been realized. The experiments investigate damped torsional and bending oscillations, and yield parameters that can conveniently be treated as effective viscous properties within the framework of our software.
{"title":"Realistic parameters for dynamic simulation of composite cables using a damped Cosserat rod model","authors":"D. Jungkenn, Fabio Schneider, F. Andersson, J. Linn","doi":"10.3311/eccomasmbd2021-207","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-207","url":null,"abstract":"Digital prototyping presents one of today’s biggest chances in boosting efficiency of product development in automotive industry. Handling flexible parts, such as cables and hoses, is a big challenge in this context. The software IPS Cable Simulation addresses this topic and solves the problem for a wide field of applications. To obtain reliable simulation results, a basic set of parameters describing the effective mechanical properties of the flexible parts is an essential part of the model. The development of the MeSOMICS measurement machine represents a practical solution to this need for experimental data. Additional challenges are related to dynamic simulations of vehicles in operation mode. To solve these, we introduced the durability and dynamics module as an extension to the established software. This leads to an extended set of required parameters. In order to obtain these dynamic parameters, two different experimental setups have been realized. The experiments investigate damped torsional and bending oscillations, and yield parameters that can conveniently be treated as effective viscous properties within the framework of our software.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126297720","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-168
P. Boscariol, D. Richiedei
Model-plant mismatches can severely limit the effectiveness of conventional model-based motion design methods. To solve this issue, a method for robust trajectory planning that can reduce the effects of parametric uncertainties is presented in this work. The method is based on an indirect variational formulation, which is translated into a Two-Point Boundary Value Problem (TPBVP) and then solved numerically. Robustness is obtained by incorporating into the problem the sensitivity functions of the plant, and imposing some additional constraints on the initial and final points of the trajectory. A formulation aimed at reducing both the residual and the transient oscillations, as well as keeping small the control effort, is also proposed. The work presents a numerical verification of the effectiveness of the method for an underactuated system, such as a double-pendulum crane, by showing its effectiveness and robustness when performing fast rest-to-rest motions.
{"title":"Desensitized motion planning for underactuated multibody systems","authors":"P. Boscariol, D. Richiedei","doi":"10.3311/eccomasmbd2021-168","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-168","url":null,"abstract":"Model-plant mismatches can severely limit the effectiveness of conventional model-based motion design methods. To solve this issue, a method for robust trajectory planning that can reduce the effects of parametric uncertainties is presented in this work. The method is based on an indirect variational formulation, which is translated into a Two-Point Boundary Value Problem (TPBVP) and then solved numerically. Robustness is obtained by incorporating into the problem the sensitivity functions of the plant, and imposing some additional constraints on the initial and final points of the trajectory. A formulation aimed at reducing both the residual and the transient oscillations, as well as keeping small the control effort, is also proposed. The work presents a numerical verification of the effectiveness of the method for an underactuated system, such as a double-pendulum crane, by showing its effectiveness and robustness when performing fast rest-to-rest motions.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116945975","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-274
R. Di Leva, M. Carricato, H. Gattringer, A. Müller
Many industrial applications require the displacement of liquid-filled containers on planar paths, by means of linear transport systems or serial robots. The movement of the liquid inside the container, known as sloshing , is usually undesired, so there is the necessity to keep under control the peaks that the liquid free surface exhibits during motion. This paper aims at validating a model for estimating the liquid sloshing height, taking into account 2-dimensional planar motions of a cylindrical container, with accelerations up to 9 . 5 m/s 2 . This model can be exploited for assessment or optimization purposes. Experiments performed with a robot following three paths, each one of them with different motion profiles, are described. Comparisons between experimental results and model predictions are provided and discussed.
{"title":"Sloshing Dynamics Estimation for Liquid-filled Containers under 2-Dimensional Excitation","authors":"R. Di Leva, M. Carricato, H. Gattringer, A. Müller","doi":"10.3311/eccomasmbd2021-274","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-274","url":null,"abstract":"Many industrial applications require the displacement of liquid-filled containers on planar paths, by means of linear transport systems or serial robots. The movement of the liquid inside the container, known as sloshing , is usually undesired, so there is the necessity to keep under control the peaks that the liquid free surface exhibits during motion. This paper aims at validating a model for estimating the liquid sloshing height, taking into account 2-dimensional planar motions of a cylindrical container, with accelerations up to 9 . 5 m/s 2 . This model can be exploited for assessment or optimization purposes. Experiments performed with a robot following three paths, each one of them with different motion profiles, are described. Comparisons between experimental results and model predictions are provided and discussed.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114152104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-131
Tobias Rückwald, A. Held, R. Seifried
Detailed impact simulations in flexible multibody systems can be simulated based on reduced isogeometric analysis (IGA) models. A precise simulation of an impact requires a high element resolution in the contact area. Usually, global refinement methods are used, which are easy to implement. However, the literature proposes the use of hierarchical refinement to refine locally. The local refinement generates fewer countable degrees of freedom compared to an equivalent global refinement. Numerous application areas can be found in the literature, such as contact simulations, where the computational effort is reduced by local refinement. This work tests the hierarchical refinement in the context of an impact simulation with the floating frame of reference formulation. In the application example, the impact of two elastic spheres is simulated and compared to an analytic solution. The focus is set on calculation time and accuracy compared to globally refined reference models.
{"title":"Flexible Multibody Impact Simulations Using Hierarchically Refined Isogeometric Models","authors":"Tobias Rückwald, A. Held, R. Seifried","doi":"10.3311/eccomasmbd2021-131","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-131","url":null,"abstract":"Detailed impact simulations in flexible multibody systems can be simulated based on reduced isogeometric analysis (IGA) models. A precise simulation of an impact requires a high element resolution in the contact area. Usually, global refinement methods are used, which are easy to implement. However, the literature proposes the use of hierarchical refinement to refine locally. The local refinement generates fewer countable degrees of freedom compared to an equivalent global refinement. Numerous application areas can be found in the literature, such as contact simulations, where the computational effort is reduced by local refinement. This work tests the hierarchical refinement in the context of an impact simulation with the floating frame of reference formulation. In the application example, the impact of two elastic spheres is simulated and compared to an analytic solution. The focus is set on calculation time and accuracy compared to globally refined reference models.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129141531","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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