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Journal Articles

Dynamic Simulation and Collision Detection for Flexible Mechanical Systems With Contact Using the Floating Frame of Reference Formulation

Xu Dai, József Kövecses, Marek Teichmann
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. November 2024, 19(11): 111005.
Paper No: CND-24-1066
https://doi.org/10.1115/1.4066329
Published Online: September 6, 2024
View Article titled, Dynamic Simulation and Collision Detection for Flexible Mechanical Systems With Contact Using the Floating Frame of Reference Formulation
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Topics: Collisions (Physics), Simulation, Deformation, Flexible systems, Robotics
Journal Articles

Inertial Parameter Identification for Closed-Loop Mechanisms: Adaptation of Linear Regression for Coordinate Partitioning

Lauri Pyrhönen, Thijs Willems, Aki Mikkola, Frank Naets
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. May 2024, 19(5): 051001.
Paper No: CND-23-1278
https://doi.org/10.1115/1.4064794
Published Online: March 7, 2024
View Article titled, Inertial Parameter Identification for Closed-Loop Mechanisms: Adaptation of Linear Regression for Coordinate Partitioning
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Topics: Algorithms, Differential equations, Friction, Kinematics, Multibody systems, Regression models, State estimation, System dynamics, Torque, Trajectories (Physics)
Journal Articles

Design of a Reconfigurable Mobile Collaborative Manipulator for Industrial Applications

Alberto Baldassarri, Michele Bertelli, Marco Carricato
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. September 2023, 18(9): 091006.
Paper No: CND-22-1179
https://doi.org/10.1115/1.4062595
Published Online: June 27, 2023
View Article titled, Design of a Reconfigurable Mobile Collaborative Manipulator for Industrial Applications
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Topics: Braking, Design, Hardware, Manipulators, Robots, Stability, Robotics, Safety, Cycles, Errors
Journal Articles

Joint Special Issue: Design and Control of Responsive Robots

Andreas Mueller, Jozsef Kovecses, Charles Kim, Chandramouli Padmanabhan, Gabor Orosz
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Guest Editorial
J. Comput. Nonlinear Dynam. June 2023, 18(6): 060301.
Paper No: CND-23-1097
https://doi.org/10.1115/1.4062416
Published Online: May 5, 2023
View Article titled, Joint Special Issue: Design and Control of Responsive Robots
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Topics: Design, Robots, Robotics
Journal Articles

Stability Analysis of a One Degree of Freedom Robot Model With Sampled Digital Acceleration Feedback Controller in Turning and Milling

Andras Bartfai, Asier Barrios, Zoltan Dombovari
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. August 2023, 18(8): 081011.
Paper No: CND-22-1324
https://doi.org/10.1115/1.4062229
Published Online: May 4, 2023
View Article titled, Stability Analysis of a One Degree of Freedom Robot Model With Sampled Digital Acceleration Feedback Controller in Turning and Milling
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Topics: Control equipment, Delays, Feedback, Milling, Robots, Stability, Machining, Signals, Degrees of freedom, Robotics
Journal Articles

Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns

Tamas G. Molnar, Katherine Tighe, Wyatt Ubellacker, Arash Kalantari, Aaron D. Ames
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. June 2023, 18(6): 061001.
Paper No: CND-22-1157
https://doi.org/10.1115/1.4056659
Published Online: April 6, 2023
View Article titled, Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns
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Topics: Design engineering, Optimization, Robots, Rollers, Simulation, Trajectories (Physics), Path planning, Torque, Robotics, Inspection
Journal Articles

Energy-Efficient Actuator Design Principles for Robotic Leg Prostheses and Exoskeletons: A Review of Series Elasticity and Backdrivability

Brokoslaw Laschowski, John McPhee
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Review Articles
J. Comput. Nonlinear Dynam. June 2023, 18(6): 060801.
Paper No: CND-22-1170
https://doi.org/10.1115/1.4056919
Published Online: April 6, 2023
View Article titled, Energy-Efficient Actuator Design Principles for Robotic Leg Prostheses and Exoskeletons: A Review of Series Elasticity and Backdrivability
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Topics: Actuators, Design, Energy efficiency, Exoskeleton devices, Motors, Prostheses, Robotics, Torque, Elasticity
Journal Articles

Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects

Alaa Khalifa, Gianluca Palli
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. January 2022, 17(1): 011001.
Paper No: CND-21-1076
https://doi.org/10.1115/1.4052571
Published Online: October 29, 2021
View Article titled, Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects
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Topics: Dynamic models, Simulation, Splines, Gravity (Force), Shapes, Matlab, Modeling, Potential energy, Robotics
Journal Articles

Process Parameter Optimization of a Mobile Robotic Percussive Riveting System With Flexible Joints

Yuwen Li, Jiancheng Ji, Shuai Guo, Fengfeng (Jeff) Xi
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. November 2017, 12(6): 061005.
Paper No: CND-16-1486
https://doi.org/10.1115/1.4036196
Published Online: September 7, 2017
View Article titled, Process Parameter Optimization of a Mobile Robotic Percussive Riveting System With Flexible Joints
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Topics: Optimization, Riveting, Rivets, Robotics, Robots, Aerospace industry, Structural dynamics, End effectors, Manufacturing, Vibration
Journal Articles

Planar Multibranch Open-Loop Robotic Manipulators Subjected to Ground Collision

A. M. Shafei, H. R. Shafei
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. November 2017, 12(6): 061003.
Paper No: CND-16-1416
https://doi.org/10.1115/1.4036197
Published Online: September 7, 2017
View Article titled, Planar Multibranch Open-Loop Robotic Manipulators Subjected to Ground Collision
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Topics: Inertia (Mechanics), Robotics, Equations of motion, Dynamics (Mechanics), Algorithms
Journal Articles

Steering a Chaplygin Sleigh Using Periodic Impulses

Phanindra Tallapragada, Vitaliy Fedonyuk
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Technical Briefs
J. Comput. Nonlinear Dynam. September 2017, 12(5): 054501.
Paper No: CND-15-1463
https://doi.org/10.1115/1.4036117
Published Online: March 27, 2017
View Article titled, Steering a Chaplygin Sleigh Using Periodic Impulses
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Topics: Algorithms, Dynamics (Mechanics), Impulse (Physics), Momentum, Robotics, Torque, Wheels, Rotors, Design, Locomotives
Journal Articles

A Vibration Absorption Method for Alleviating Impact of the Flexible Robotic Arm

Yushu Bian, Zhihui Gao, Ming Fan
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. July 2017, 12(4): 041006.
Paper No: CND-16-1258
https://doi.org/10.1115/1.4035409
Published Online: January 20, 2017
View Article titled, A Vibration Absorption Method for Alleviating Impact of the Flexible Robotic Arm
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Topics: Absorption, Damping, Resonance, Robotics, Vibration, Vibration absorbers, Simulation, Deformation, Computer simulation, Engineering prototypes
Journal Articles

Handling Actuator Saturation as Underactuation: Case Study With Acroboter Service Robot

Ambrus Zelei, László Bencsik, Gábor Stépán
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. May 2017, 12(3): 031011.
Paper No: CND-16-1237
https://doi.org/10.1115/1.4034868
Published Online: December 5, 2016
View Article titled, Handling Actuator Saturation as Underactuation: Case Study With Acroboter Service Robot
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Topics: Actuators, Dynamics (Mechanics), Multibody systems, Robots, Dimensions, Control algorithms, Robotics
Journal Articles

History of Multibody Dynamics in the U.S.

J. J. Uicker
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Guest Editorial
J. Comput. Nonlinear Dynam. November 2016, 11(6): 060302.
Paper No: CND-16-1277
https://doi.org/10.1115/1.4034308
Published Online: August 31, 2016
View Article titled, History of Multibody Dynamics in the U.S.
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Topics: Computer software, Dynamics (Mechanics), Engineering teachers, Kinematics, Multibody dynamics, Multibody systems, Computers, Flexible body dynamics, Robotics, Motors
Journal Articles

Operational Space Inertia for Closed-Chain Robotic Systems

Abhinandan Jain
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. April 2014, 9(2): 021015.
Paper No: CND-12-1119
https://doi.org/10.1115/1.4025893
Published Online: January 9, 2014
View Article titled, Operational Space Inertia for Closed-Chain Robotic Systems
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Topics: Chain, End effectors, Robotics, Topology, Inertia (Mechanics)
Journal Articles

Nonlinear Bifurcation Analysis of a Single-DoF Model of a Robotic Arm Subject to Digital Position Control

Giuseppe Habib, Giuseppe Rega, Gabor Stepan
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. January 2013, 8(1): 011009.
Paper No: CND-11-1209
https://doi.org/10.1115/1.4006430
Published Online: June 14, 2012
View Article titled, Nonlinear Bifurcation Analysis of a Single-DoF Model of a Robotic Arm Subject to Digital Position Control
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Topics: Bifurcation, Stability, Position control, Attractors, Robotics
Journal Articles

Position Control of a Rehabilitation Robotic Joint Based on Neuron Proportion-Integral and Feedforward Control

Xian-Zhi Jiang, Xin-Han Huang, Cai-Hua Xiong, Rong-Lei Sun, You-Lun Xiong
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Technical Briefs
J. Comput. Nonlinear Dynam. April 2012, 7(2): 024502.
https://doi.org/10.1115/1.4005436
Published Online: January 9, 2012
View Article titled, Position Control of a Rehabilitation Robotic Joint Based on Neuron Proportion-Integral and Feedforward Control
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Topics: Control equipment, Feedforward control, Position control, Robotics, Steel, Robots, Friction, Wire
Journal Articles

Control of Redundant Mechanical Systems Under Equality and Inequality Constraints on Both Input and Constraint Forces

Farhad Aghili
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research Papers
J. Comput. Nonlinear Dynam. July 2011, 6(3): 031013.
https://doi.org/10.1115/1.4002689
Published Online: February 2, 2011
View Article titled, Control of Redundant Mechanical Systems Under Equality and Inequality Constraints on Both Input and Constraint Forces
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Kinematics, Manipulators, Quadratic programming, Redundant manipulators, Robotics, Topology, Torque
Journal Articles

Dynamic Modeling and Simulation of Percussive Impact Riveting for Robotic Automation

Yuwen Li, Fengfeng Xi, Kamran Behdinan
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research Papers
J. Comput. Nonlinear Dynam. April 2010, 5(2): 021011.
https://doi.org/10.1115/1.4000962
Published Online: February 19, 2010
View Article titled, Dynamic Modeling and Simulation of Percussive Impact Riveting for Robotic Automation
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Topics: Hammers, Riveting, Rivets, Deformation, Simulation, Robotics, Pressure
Journal Articles

Introduction of the Foot Placement Estimator: A Dynamic Measure of Balance for Bipedal Robotics

Derek L. Wight, Eric G. Kubica, David W. L. Wang
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research Papers
J. Comput. Nonlinear Dynam. January 2008, 3(1): 011009.
https://doi.org/10.1115/1.2815334
Published Online: November 26, 2007
View Article titled, Introduction of the Foot Placement Estimator: A Dynamic Measure of Balance for Bipedal Robotics
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Topics: Control equipment, Control systems, Cycles, Friction, Machinery, Robotics, Robots, Simulation, Stability, Simulation results