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ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik, Volume 106, Issue 4, April 2026.ABSTRACT The Lie group SE3$SE\left(3\right)$ of isometric orientation‐preserving transformation is used for modeling multibody systems, robots, and Cosserat continua. The use of these models in numerical simulation and optimization schemes necessitates the exponential map, its right‐trivialized differential (often referred to as the tangent operator ...
Andreas Müller
wiley +1 more source
Advances in Mechanical Engineering, 2015 The complex mechanical systems such as high-speed trains, multiple launch rocket system, self-propelled artillery, and industrial robots are becoming increasingly larger in scale and more complicated in structure.
Hai-gen Yang +5 more
doaj +1 more source
The geometric structure of nonholonomic mechanics [PDF]
, 1997 Many important problems in multibody dynamics, the dynamics of wheeled vehicles and motion generation, involve nonholonomic mechanics. Many of these systems have symmetry, such as the group of Euclidean motions in the plane or in space and this symmetry ...
Koon, Wang Sang, Marsden, Jerrold E.
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Multibody Dynamics Model of a Human Hand for Haptics Interaction [PDF]
, 2008 In this paper we propose a strategy for modelling a human hand for Haptics interaction. The strategy consists in a parallel computing architecture that calculates the dynamics of a hand; this is accomplished by computing the dynamics of each finger in a ...
Aracil Santonja, Rafael +5 more
core +1 more source
Dynamic whole-body motion generation under rigid contacts and other unilateral constraints [PDF]
, 2013 The most widely used technique for generating wholebody motions on a humanoid robot accounting for various tasks and constraints is inverse kinematics. Based on the task-function approach, this class of methods enables the coordination of robot movements
Et Al. Dy +12 more
core +5 more sources
Damping characterization in large structures [PDF]
This research project has as its main goal the development of methods for selecting the damping characteristics of components of a large structure or multibody system, in such a way as to produce some desired system damping characteristics. The main need
Eke, Estelle M., Eke, Fidelis O.
core +1 more source
Recursive mass matrix factorization and inversion: An operator approach to open- and closed-chain multibody dynamics [PDF]
This report advances a linear operator approach for analyzing the dynamics of systems of joint-connected rigid bodies.It is established that the mass matrix M for such a system can be factored as M=(I+H phi L)D(I+H phi L) sup T.
Kreutz, K., Rodriguez, G.
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ActuatorsWeather survival poses a significant challenge for the utilization of tethered balloons. The dynamic modeling of tethered balloon systems presents challenges due to the flexible nature of the cables and the intricate nature of gust forces.
Zhenhua Lai +5 more
doaj +1 more source
Controller Parameters Tuning Based on Transfer Matrix Method for Multibody Systems
Advances in Mechanical Engineering, 2014 Transfer matrix method for multibody systems (MS-TMM) is a rife method to multi-rigid-flexible-body systems dynamics model deduction due to that there are no needs to establish the global dynamics equations of the system. Its basic idea is transferring a
Hossam Hendy +3 more
doaj +1 more source
Modeling Stiffness and Damping in Rotational Degrees of Freedom Using Multibond Graphs [PDF]
, 2013 A contribution is proposed for the modeling of mechanical systems using multibond graphs. When modeling a physical system, it may be needed to catch the dynamic behavior contribution of the joints between bodies of the system and therefore to ...
BARRE, Pierre-Jean +3 more
core +3 more sources