A general approach to optimal motion synthesis of constrained multibody systems is presented. It applies to controlled mechanical systems such as industrial manipulators and legged-locomotion systems. An optimal control problem is stated. A parametric optimization technique based on approximating joint motion coordinates using spline functions of class C is developed to recast this primary prob...

In this paper we present a coordinate-split (CS) technique for the numerical solution of the equations of motion of constrained multibody dynamic systems. We show how the coordinate-split technique can be implemented within the context of commonly used solution methods, for increased eeciency and reliability. A particularly challenging problem for multibody dynamics is the numerical solution of...

A new modeling language, called Modelica, for physical modeling is being developed in an international effort. The main objective is to make it easy to exchange models and model libraries for different domains, such as, mechanical, pneumatics, electrical, hydraulics, and others. The design approach builds on non-causal modeling with true ordinary differential and algebraic equations and the use...

A powerful software package for analysis and design of multibody systems is developed , based on Rsyst 9], a software environment for scientiic and engineering applications. Multibody systems are described and stored on a Rsyst database according to the object-oriented data model of 5, 6]. Special methods to utilize the data objects of a multibody system are provided by RUS and DLR 7, 1] as Rsy...

In this paper, we introduce a general-purpose approach for the detection and reduction of overestimation in verified interval simulations of the dynamics of mechanical systems. For that purpose, we automatically derive constraints which eliminate physically meaningless parts of the state enclosures of the corresponding ordinary differential equations. The practical applicability of this procedu...

The present paper describes a set of procedures for the solution of nonlinear static-equilibrium problems in the complex multibody mechanical systems. To find the equilibrium position of the system, five optimization techniques are used to minimize the total potential energy of the system. Comparisons are made between these techniques. A computer program is developed to evaluate the equality co...

This work deals with the modelling of lubricated revolute joints in multibody mechanical systems. In most machines and mechanisms, the joints are designed to operate with some lubricant fluid. The high pressures generated in the lubricant fluid act to keep the journal and the bearing apart. Moreover, the thin film formed by lubricant reduces friction and wear, provides load capacity and adds da...

This paper presents a framework for the modeling and simulation of the dynamics of complex deformable space systems. It is based on a suite of free software, mostly developed and distributed by the ‘Dipartimento di Ingegneria Aerospaziale’ of Politecnico di Milano (DIA-PM), that allows the real-time simulation of arbitrarily complex mechanical, mechatronic and aeroservoelastic systems. Real-tim...

This work describes a method for the simulation of multiple pneumatic actuators in a context of multi body mechanical systems. The model of the single actuator is based on elliptical approximation of non-linear pneumatic devices; friction and sticking phenomena are considered as well. Pneumatic devices introduce forces and new state variables into the complete multibody system: we developed a s...