The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and
This may be especially interesting for computationally expensive components such as flexible bodies in an otherwise rigid multibody simulation. (ii) If the inherently nonlinear governing equations of motion (EOMs) are at least partially unknown but experimental data are available. This might be the ...
The governing equations of equilibrium for rigid body, flexible body, force entities and joints are solved simultaneously. • Good for large degrees of freedom systems — Customized sparse solver for mixed systems of rigid and flexible bodies has been implemented to handle large degrees of freedom...
It should be noted that when i = 2, that is, for rigid bodies, the relevant part of flexibility in the motion equation in Sect. 3.1.1 can be ignored. After discretizing the ammunition manipulator with shell elements, more detailed expressions of its mass matrix M1 and velocity coupling ...
1 Introduction The three famous integrable cases of rigid body motion, the tops of Euler, Lagrange and Kowalewsky, have been paramount examples in the theory of integrable systems. The modern algebra-geometric approach, using Lax pairs with a spectral parameter [1], [2] has been applied to ...
A recursive formulation of the equations of motion of constrained mechanical systems with closed loops is derived, using tools of variational and vector calculus. Kinematic couplings between pairs of contiguous bodies presented in Part 1... DS Bae,EJ Haug - 《Journal of Structural Mechanics》 被引...
correctly modeling rigid-body dynamics with friction is difficult due to a number of discontinuities in the behavior of rigid bodies and the discontinuities inherent in the Coulomb friction law. This is particularly crucial for handling situations with large coefficients of friction, which can result ...
Architectures The physical embodiment of a robotic manipulator (we will use the term robot loosely for this chapter) is a kinematic chain composed by a set of rigid bodies, called links, connected in series together by joints (formally known as kinematic pairs). In other words, a joint ...
The bodies are assumed to be rigid and nondeformable, i.e., their elastic properties are ignored. The gas is inviscid and non-heat-conducting and is described by compressible fluid equations. The proposed approach is based on averaging the equations of the original model with respect to a ...
A dynamic planning controller receives a maneuver for a robot and a current state of the robot and transforms the maneuver and the current state of the robot into a nonlinear optimization problem. The nonlinear optimization problem is configured to optimize an unknown force and an unknown position...