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Advanced Intelligent Systems, Volume 5, Issue 5, May 2023., 2023 With slender, flexible bodies, continuum robots achieve a long reach through narrow and tortuous environments, enabling otherwise unachievable tasks for medical, industrial, and service applications. The recent surge in research on these robots leads to significant advances in design, modeling, and control methods, here examined with a comprehensive ...
Matteo Russo +7 more
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GAMM-Mitteilungen, Volume 46, Issue 1, March 2023., 2023 Abstract Compared to conventional robots, flexible manipulators offer many advantages, such as faster end‐effector velocities and less energy consumption. However, their flexible structure can lead to undesired oscillations. Therefore, the applied control strategy should account for these elasticities. A feedforward controller based on an inverse model
Svenja Drücker, Robert Seifried
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Wave control of a flexible space tether based on elastic metamaterials
International Journal of Mechanical System Dynamics, Volume 3, Issue 1, Page 58-72, March 2023., 2023 Abstract This study proposes a spider‐web elastic metamaterial to suppress vibrations in space slender structures, such as flexible space tethers. The metamaterial consists of unit cells that are periodically distributed on the space tether to obtain band gaps.
Yexiong Huang +3 more
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Nominal geometry and force measures for solids and fluids
International Journal of Mechanical System Dynamics, Volume 2, Issue 3, Page 249-252, September 2022., 2022 Abstract Understanding solid‐ and fluid‐inertia forces and their coupling with the gravity potential in complex motion scenarios is necessary for evaluating system stability and identifying root causes of system failure and accidents. Because solids and fluids have an infinite number of degrees of freedom and distributed inertia and elasticity, having ...
Ahmed A. Shabana
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Dynamic modeling and analysis of the looped space tether transportation system based on ANCF
International Journal of Mechanical System Dynamics, Volume 2, Issue 2, Page 204-213, June 2022., 2022 Abstract A high‐fidelity multibody‐system dynamic model of the looped tether transportation system (L‐TTS) is proposed in this study to study its large deformation as well as large overall motion. The absolute nodal coordinate formulation (ANCF)‐based gradient‐deficient beam element is employed to establish the accurate model of the two flexible ...
Jie Yang +5 more
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Multibody system transfer matrix method: The past, the present, and the future
International Journal of Mechanical System Dynamics, Volume 2, Issue 1, Page 3-26, March 2022., 2022 Abstract The multibody system transfer matrix method (MSTMM), a novel dynamics approach developed during the past three decades, has several advantages compared to conventional dynamics methods. Some of these advantages include avoiding global dynamics equations with a system inertia matrix, utilizing low‐order matrices independent of system degree of ...
Xiaoting Rui +5 more
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IET Electrical Systems in Transportation, Volume 11, Issue 3, Page 269-277, September 2021., 2021 Abstract To improve the carrying capacity, double pantographs are normally used to collect the electric current from the catenary. The mechanical wave excited by the leading pantograph affects the contact of the trailing pantograph and the contact wire, which usually deteriorates the current collection quality.
Wenping Chu +3 more
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Stable Inversion for Flexible Multibody Systems Using the ANCF
Proceedings in Applied Mathematics and Mechanics, Volume 20, Issue 1, January 2021., 2021 Abstract Flexible robots are often non‐minimum phase systems. Thus, their inverse model must be computed by stable inversion. Here, a simplification to the stable inversion process is proposed, which enables its application to complex underactuated multibody systems.
Svenja Drücker, Robert Seifried
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Shock and Vibration, Volume 2021, Issue 1, 2021., 2021 The assessment of wind deflection of the railway overhead contact line (OCL) is of great importance to ensure the safe and reliable operation of the electrified railway. This paper performs a comparative study of the railway OCL wind deflection based on the traditional empirical formula and finite element method (FEM).
Wenping Chu +3 more
wiley +1 more source
The Planar Wide‐Frequency Vibration Characteristics of Heavy‐Load Radial Tires
Mathematical Problems in Engineering, Volume 2021, Issue 1, 2021., 2021 This paper investigates the planar wide‐frequency vibration characteristics of heavy‐load radial tires with a large aspect ratio. A proposed tire model with a piecewise flexible beam on an elastic foundation is investigated and validated using experimental modal analysis and theoretical modeling method.
Hongjie Cheng +5 more
wiley +1 more source