Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 65 for “"Rigid bodies"”.
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The Dynamics of Rigid Bodies on Moving Deformable Support Media
The rocking motion of a solid block on a moving deformable base is a dynamic problem, that despite its apparent simplicity, involves a number of complex dynamic phenomena such as impacts, sliding, geometric and material nonlinearities and, under some circumstances, chaotic behavior. For that …
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Dynamics of bouncing rigid bodies and billiards in the spaces of constant curvature
… we study the collisions of a two-dimensional rigid body using billiard dynamics. We first define a dumbbell system, which consists of two point masses connected by a weightless rod. We assume the dumbbell moves freely in the air and makes elastic collisions at a flat boundary. For arbitrary …
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Non-Equilibrium Thermodynamics of porous media filled by a fluid flow and of rigid bodies with an internal tensorial field influencing the thermal phenomena.
… behavior of fluid-saturated porous media and of rigid bodies with an internal tensorial field influencing the thermal phenomena, respectively. Furthermore, three Appendices are present, that clarify some aspects of the arguments presented in the second, third, fourth, and seventh Chapters. …
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Inference and learning for rigid-body models of manipulation
… Particularly, we investigate the broad class of rigid-bodies undergoing frictional interactions. We begin by deriving a contact-implicit system identification formulation for articulated rigid-bodies. Assuming we have a physical model of the system, the objective is to derive system parameters …
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Interactive control of linked rigid body simulations
Numerical simulation of linked rigid-body motion generates realistic motion automatically. Simulation alone, however, prevents intuitive direction. In the worst case, an artist repeatedly tweaks a variety of simulation parameters until she achieves the desired effect. Because of the complexity of …
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Dynamics and Control of Flexible Multibody Structures
… structure comprised of an arbitrary number of rigid bodies and slender beams. The procedure presented here for deriving equations of motion for flexible multibody systems is carried out by means of the Principle of Virtual Work (often referred to in the dynamics literature as d'Alembert's …
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Uma formalização da mecânica analítica dos sistemas de corpos rígidos
The Lagrange's equations for systems of rigid bodies are obtained directly from the laws of motion for a rigid body, without the preliminary study of systems with a finite number of parti eles. ln doing so, the role of the evolution law for the angular momentum is made clear for the development of …
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Kinematic Synthesis of Planar, Shape-Changing Rigid Body Mechanisms for Design Profiles with Significant Differences in Arc Length
… seat to meet a wider array of ergonomic needs. Rigid body shape-change mechanisms offer many advantages including the high capacity to endure substantial loads while achieving large displacements. Their design techniques are also well-established. The goal of this research project is to develop …
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Self-propulsion of floating objects
… is the generation of self-propulsion of floating bodies. We examine means of interfacial propulsion employed by floating bodies. Nature utilizes dynamic and quasistatic phenomena to induce propulsion. However, we show that quasi-static propulsion due to manipulation of the shape of the surface, as …
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A full-engulfment engineering model, and its experimental and numerical verification, for the response of a rigid body to ground-shock
… model is presented which treats the motions of a rigid body to ground shock. A rigid body is defined as one whose deformations are small compared to the deformations of the surrounding media. The new model treats non-planar normal loads on the structure, tensile cut-off constraints at the upstream …
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Nonprehensile Manipulation of Multi-Link Hinges
… classes of nonprehensile manipulation and nonrigid object manipulation. Because the dynamics of nonrigid object are generally governed by more parameters than rigid bodies, robustness to parameter uncertainty is particularly important for these types of tasks. In this work, we propose several …
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Análise de estruturas marítimas e sistemas flexíveis constituídos por cabos
… caried out by using nonlinear springs, spherical rigid bodies and prescribed displacements.
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Applications of Geometric Algebra in Mathematical Engineering
… this embedding for simulation of the dynamics of rigid bodies, and how practitioners can leverage the geometric primitives built into CGA to represent and solve constraints in multi-body robotic systems.
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Geometry and Algorithms for Part Fixturing, Grasping and Manipulation With Modular Fixturing Elements, a New Reconfigurable Gripper and Mobile Robots
… The kinematic theory of second order mobility of rigid bodies is used, together with the new concept of Inescapable Configuration Space region, to devise efficient algorithms for planning immobilizing fixtures, grasps, in-hand manipulation sequences and obstacle avoidance manipulation plans for …
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Vibration Analysis of a Wind Turbine Multi-Stage Planetary Gearbox Incorporating a Flexible Body Component
… the vibration patterns of a healthy gearbox with rigid bodies, with a flexible body, and with a defect applied on a particular gear in the planetary gear systems that is representative of the N90 wind turbine. The flexible body incorporation allows for stress analysis of different gear teeth at …
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Optimal Control of the Cheetah During Rapid Manoeuvres
… for models involving long serial chains of rigid bodies. Leveraging this development, a software library is created which facilitates the process of finding trajectories of models of legged robots and animals. Using this library, a complex model of a cheetah is developed, based on real data …
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A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
… planning problems involving manipulation of rigid objects that operates directly from a point-cloud observation, i.e. without prior object models. Our method plans in the space of object subgoals and frees the planner from reasoning about robot-object interaction dynamics by relying on a set …
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Provably Asymptotically Near-Optimal Motion Planning with Sparse Data Structures
… of PRM* with graph spanners. Simulations for rigid bodies show that the method indeed provides small roadmaps and results in faster query resolution. The rate of node addition is shown to decrease over time and the quality of solutions satisfies the theoretical bounds. Smoothing provides a …
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Vibration Based Planetary Gear Analysis and Damage Detection
… the possibility of simulation gears with rigid bodies. After researches with different emphasizes on the rigid body simulation, the gained knowledge showed limitations of the rigid body model. Gear failures are very diverse and the actual simulation technique could not represent all …
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