This work aims at presenting, in a comprehensive manner, several approaches to model and simulate closed loop topologies using the classical Lagrangian formulation. One of great advantages approach is its simplicity easiness obtaining equations motion. However, critical aspect arises when mechanical systems include topologies, since process deriving motion becomes complex task. The key point pr...

We examine here the modular and recursive formulation of the inverse dynamics of parallel architecture manipulators. The concept of the decoupled natural orthogonal complement (DeNOC) is combined with the spatial parallelism of the robots of interest to develop an inverse dynamics algorithm which is both recursive and modular. INTRODUCTION The modular and recursive inverse dynamics formulation ...

This paper deals with the problem of identifying the inertia parameters of a manipulator. We begin by introducing the terminology of minimal linear combinations of the inertia parameters (MLC’s) that are liiearly independent of one another and determine the manipulator dynamics while keeping the number of linear combinations of the inertia parameters to a minimum. The problem is then to find an...

For the analysis of low-speed incompressible fluid dynamics with turbulence around airfoils, we developed a finite element formulation based on stabilized pressure and velocity formulation. To shape optimization bidimensional this is applied using machine learning (TensorFlow) public domain global algorithms. The goal to maximize lift-over-drag ratio by class-shape function transformation (CST)...

We consider the simulation of three-dimensional transonic Euler flow using pseudo-transient Newton–Krylov methods [8,9]. The main computation involves solving a large, sparse linear system at each Newton (nonlinear) iteration. We develop a technique for adaptively selecting the linear solver method to match better the numeric properties of the linear systems as they evolve during the course of ...

Classical mechanics, introduced by I. Newton, improved by L. Euler and furthered by J.L. Lagrange and P.S. Laplace has been a serving as a powerful paradigm for the coherent description of phenomena. While the paradigm has been able to answer many questions about the world around us, it has failed to provide explanations of many experiments, performed in the last 100 years. Therefore, the field...

The paper deals with the dynamic modeling of bio-inspired robots with soft appendages as flying insect-like or swimming fish-like robots. In order to model such soft systems, we here propose to exploit the Mobile Multibody System framework introduced in [1], [2], [3]. In such a framework, the robot is considered as a tree-like structure of rigid bodies whose the joint evolution is governed by s...

X iv :m at h/ 00 04 18 7v 1 [ m at h. H O ] 1 A pr 2 00 0 Journal of Nonlinear Mathematical Physics 2000, V.7, N 2, 244–262. (Re)-Examining the Past q-Newton Binomial: From Euler To Gauss Boris A. KUPERSHMIDT The University of Tennessee Space Institute, Tullahoma, TN 37388, USA E-mail: [email protected] Received March 6, 2000; Accepted April 7, 2000 Abstract A counter-intuitive result of Gauss ...

This paper studies inverse kinematics and dynamics of a new 4-DOF hybrid (serial-parallel) manipulator. This kind of hybrid manipulator is specially designed for pole/column climbing applications with spatially bent and branching poles/columns. The proposed hybrid manipulator consists of a one-DOF rotary mechanism in series with a 3-DOF planar 3-R PR parallel mechanism. This combination provide...

This paper examines the design, analysis and control of a novel hybrid articulated-cable parallel platform for upper limb rehabilitation in three dimensional space. The proposed lightweight, low-cost, modular reconfigurable parallel-architecture robotic device is comprised of five cables and a single linear actuator which connects a six degrees-of-freedom moving platform to a fixed base. This n...