Multibody Dynamics

1. Front Matter

   Pages i-viii

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2. Numerical Integration of Underactuated Mechanical Systems Subjected to Mixed Holonomic and Servo Constraints

   • Peter Betsch, Robert Altmann, Yinping Yang

   Pages 1-18

3. Enhancing the Performance of the DCA When Forming and Solving the Equations of Motion for Multibody Systems

   • Jeremy J. Laflin, Kurt S. Anderson, Mike Hans

   Pages 19-31

4. Three-Dimensional Non-linear Shell Theory for Flexible Multibody Dynamics

   • Shilei Han, Olivier A. Bauchau

   Pages 33-66

5. On the Frictional Contacts in Multibody System Dynamics

   • Filipe Marques, Paulo Flores, Hamid M. Lankarani

   Pages 67-91

6. Modeling and Simulation of a 3D Printer Based on a SCARA Mechanism

   • Eduardo Paiva Okabe, Pierangelo Masarati

   Pages 93-114

7. Structure Preserving Optimal Control of a Three-Dimensional Upright Gait

   • Michael W. Koch, Sigrid Leyendecker

   Pages 115-146

8. Robotran-YARP Interface: A Framework for Real-Time Controller Developments Based on Multibody Dynamics Simulations

   • Timothée Habra, Houman Dallali, Alberto Cardellino, Lorenzo Natale, Nikolaos Tsagarakis, Paul Fisette et al.

   Pages 147-164

9. Wheel-Ground Modeling in Planetary Exploration: From Unified Simulation Frameworks Towards Heterogeneous, Multi-tier Wheel Ground Contact Simulation

   • Roy Lichtenheldt, Stefan Barthelmes, Fabian Buse, Matthias Hellerer

   Pages 165-192

10. Intervention-Autonomous Underwater Vehicle Multibody Models for Dynamic Manipulation Tasks

    • Roberto Conti, Riccardo Costanzi, Francesco Fanelli, Enrico Meli, Alessandro Ridolfi, Benedetto Allotta

    Pages 193-211

11. Development of a Musculotendon Model Within the Framework of Multibody Systems Dynamics

    • Ana R. Oliveira, Sérgio B. Gonçalves, Mamede de Carvalho, Miguel T. Silva

    Pages 213-237

12. Numerical and Experimental Study on Contact Force Fluctuation Between Wheel and Rail Considering Rail Flexibility and Track Conditions

    • Saki Ienaga, Yoshiaki Terumichi, Kazuhiko Nishimura, Minoru Nishina

    Pages 239-257

13. Use of Flexible Models in Extended Kalman Filtering Applied to Vehicle Body Force Estimation

    • Sebastiaan van Aalst, Frank Naets, Johan Theunissen, Wim Desmet

    Pages 259-275

14. Design and Control of an Energy-Saving Robot Using Storage Elements and Reaction Wheels

    • Makoto Iwamura, Shunichi Imafuku, Takahiro Kawamoto, Werner Schiehlen

    Pages 277-297

15. Exploiting the Equations of Motion For Biped Robot Control with Enhanced Stability

    • Johannes Mayr, Alexander Reiter, Hubert Gattringer, Andreas Müller

    Pages 299-321

This book includes selected papers from the ECCOMAS Thematic Conference on Multibody Dynamics, that took place in Barcelona, Spain, from June 29 to July 2, 2015. By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical systems, and nanotechnologies.

• Control Engineering
• ECCOMAS
• Mechanical Engineering
• Multibody System Dynamics
• analytical and continuum mechanics

• Dept of Mechanical Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain

  Josep M. Font-Llagunes

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