Kinematic transformations for planar multi-directional pseudodynamic testing

2009 ◽  
Vol 38 (9) ◽  
pp. 1093-1119 ◽  
Author(s):  
Oya Mercan ◽  
James M. Ricles ◽  
Richard Sause ◽  
Thomas Marullo
Keyword(s):  
Kinematic Transformations ◽  
Pseudodynamic Testing

Toward Robotic Pseudodynamic Testing for Hybrid Simulations of Air-to-Air Refueling

2017 ◽  
Vol 22 (2) ◽  
pp. 1004-1013 ◽  
Author(s):  
Mario Bolien ◽  
Pejman Iravani ◽  
Jonathan Luke du Bois
Keyword(s):  
Pseudodynamic Testing ◽  
Hybrid Simulations

A Family of Explicit Dissipative Algorithms for Pseudodynamic Testing

2006 ◽  
Vol 22 (2) ◽  
pp. 145-154 ◽  
Author(s):  
S.- Y. Chang
Keyword(s):  
High Frequency ◽  
Error Propagation ◽  
Numerical Dissipation ◽  
Explicit Method ◽  
High Frequency Response ◽  
Frequency Responses ◽  
Pseudodynamic Test ◽  
Propagation Analysis ◽  
Error Propagation Analysis ◽  
Pseudodynamic Testing

AbstractThe α-function method is a family of second-order explicit methods with controlled numerical dissipation. Thus, it is very promising for the pseudodynamic testing of a system where high frequency responses are of no interest. This is because that favorable numerical dissipation can suppress the spurious growth of high frequency responses, which might arise from numerical and/or experimental errors during a test. Furthermore, the implementation of an explicit method for the pseudodynamic testing is much simpler than for an implicit method. The superiority of using this method in performing a pseudodynamic test was verified both analytically and experimentally. In fact, results of error propagation analysis reveal that the spurious growth of high frequency responses can be suppressed and less error propagation is identified when compared to the Newmark explicit method. Actual tests were conducted pseudodynamically to confirm all the analytical results. It is also illustrated that although the high frequency response is insignificant to the total response it may be significantly amplified and propagated and finally destroys the pseudodynamic test results.

Optimal Feet-Forces’ and Torque Distributions of Six-Legged Robot Maneuvering on Various Terrains

Robotica ◽  
2019 ◽  
Vol 38 (6) ◽  
pp. 1041-1063
Author(s):  
Abhijit Mahapatra ◽  
Shibendu Shekhar Roy ◽  
Dilip Kumar Pratihar
Keyword(s):  
Inverse Dynamics ◽  
Analytical Data ◽  
Kinematic Model ◽  
Simulated Data ◽  
Euler Method ◽  
Dynamical Problem ◽  
Optimization Techniques ◽  
Constrained Equations ◽  
Kinematic Transformations

SUMMARYAn analytical model with coupled dynamics for a realistic six-legged robotic system locomoting on various terrains has been developed, and its effectiveness has been proven through computer simulations and validated using virtual prototyping tools and real experiment. The approach is new and has not been attempted before. This study investigated the optimal feet-forces’ distributions under body force and foot–ground interaction considering compliant contact and friction force models for the feet undergoing slip. The kinematic model with 114 implicit constraints in 3D Cartesian space has been transformed in terms of generalized coordinates with a reduced explicit set of 24 constrained equations using kinematic transformations. The nonlinear constrained inverse dynamics model of the system has been formulated as a coupled dynamical problem using Newton–Euler method with realistic environmental conditions (compliant foot–ground contact, impact, and friction) and computed using optimization techniques due to its indeterminate nature. One case study has been carried out to validate the analytical data with the simulated ones executed in MSC.ADAMS® (Automated Dynamic Analysis of Mechanical Systems), while the other case study has been conducted to validate the analytical and simulated data with the experimental ones. In both these cases, results are found to be in close agreement, which proves the efficacy of the model.

A family of explicit algorithms for general pseudodynamic testing

2011 ◽  
Vol 10 (1) ◽  
pp. 51-64 ◽  
Author(s):  
Shuenn-Yih Chang ◽  
Yuan-Sen Yang ◽  
Chi-Wei Hsu
Keyword(s):  
Pseudodynamic Testing

Pseudodynamic testing of strain-softening systems with adaptive time steps

1994 ◽  
Vol 23 (7) ◽  
pp. 745-760 ◽  
Author(s):  
Oreste S. Bursi ◽  
Pui-Shum B. Shing ◽  
Zorica Radakovic-Guzina
Keyword(s):  
Strain Softening ◽  
Adaptive Time ◽  
Pseudodynamic Testing
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