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Wavelet-Based Methods to Partition Multibody Systems With Contact in Dynamic Simulation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The performance of physics simulation of multibody systems with contact can be enhanced by viewing the system as being composed of subsystems of bodies, and solving the dynamics of these subsystems in parallel. This approach ...
A Control-Oriented Framework for Direct Impulse-Based Rendering of Haptic Contacts
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In many haptic applications, producing a sharp feeling of impact is crucial for high-fidelity force feedback rendering of virtual objects (VOs). Although suitable for rendering collision-rich haptic interactions, impulse-based ...
Combined Effect of Sampling and Coulomb Friction on Haptic Systems Dynamics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Dissipation mechanisms and dissipative forces play a pivotal role in the operations and performance of human-machine interfaces and particularly in haptic systems. Dissipation is a very difficult phenomenon to model. Coulomb ...
Co-Simulation of Multibody Systems With Contact Using Reduced Interface Models
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Co-simulation techniques enable the coupling of physically diverse subsystems in an efficient and modular way. Communication between subsystems takes place at discrete-time instants and is limited to a given set of coupling ...
A Fast Algorithm for Contact Dynamics of Multibody Systems Using the Box Friction Model
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: One of the major challenges in dynamics of multibody systems is to handle redundant constraints appropriately. The box friction model is one of the existing approaches to formulate the contact and friction phenomenon as a ...
A Unit-Consistent Error Measure for Multibody Systems With Unilateral Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Modeling multibody systems subject to unilateral contacts and friction efficiently is challenging, and dynamic formulations based on the mixed linear complementarity problem (MLCP) are commonly used for this purpose. The ...
Drill Bit Contact Dynamics Including Side Cutting: Simulation and Validation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Simulation techniques are increasingly becoming popular in recent years as a way of simulating oil drilling processes. Among them, directional drilling is a specific method that benefits enormously from such numerical ...
Comparison of Semirecursive and Subsystem Synthesis Algorithms for the Efficient Simulation of Multibody Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A great variety of formulations exist for the numerical simulation of rigid-body systems, particularly of medium-large systems such as vehicles. Topological formulations, which are considered to be the most efficient ones, ...
Adaptive Semi-Implicit Integrator for Articulated Mechanical Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper concerns the dynamic simulation of constrained mechanical systems in the context of real-time applications and stable integrators. The goal is to adaptively find a balance between the stability of an over-damped ...
Joint Special Issue: Design and Control of Responsive Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Robots are complex controlled dynamical systems interacting with their environment. Agile robotic systems have been penetrating almost all industrial sectors as the backbone for industrial automation, ranging from heavy ...