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Applied Sciences
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Analysis, Control and Applications of Multibody Systems
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Analysis, Control and Applications of Multibody Systems

A topical collection in Applied Sciences (ISSN 2076-3417). This collection belongs to the section "Mechanical Engineering".

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Editors

Prof. Dr. Matteo Massaro

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Guest Editor
Department of Industrial Engineering, University of Padova, 35131 Padova, Italy
Interests: vehicle dynamics; multibody dynamics; optimal control; road vehicles; mechanical vibrations
Special Issues, Collections and Topics in MDPI journals
Dr. Matteo Bottin

E-Mail Website
Guest Editor
Department of Industrial Engineering, University of Padova, 35131 Padova, Italy
Interests: robotics; redundant robots; trajectory optimization; collaborative robots; rehabilitative robotics; dynamic models
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Basilio Lenzo

E-Mail Website
Guest Editor
Department of Industrial Engineering, University of Padova, 35131 Padova, Italy
Interests: vehicle dynamics; vehicle control; vehicle state estimation; robotics; control theory
Special Issues, Collections and Topics in MDPI journals

Topical Collection Information

Currently, a multibody approach for the dynamic analysis of mechanical systems is widely applied in many industry fields, including automotive, aerospace, robotics, mechatronics, biomechanics, etc. Historically, multibody systems consisted of a number of interconnected rigid bodies, while today it is common to include flexible bodies, as well as dynamic models of the control systems being applied to the mechanical system under investigation. This Special Issue intends to present new contributions in modelling, analysis, and control of multibody systems.

Papers are welcome on topics that are related to the theory, practice, and applications of multibody systems, including, but not limited to, the following:

  • Real-time simulation of multibody systems;
  • Control of multibody systems;
  • Flexible multibody dynamics;
  • Vehicle dynamics modelling;
  • Vehicle-driver interaction;
  • Robot dynamics;
  • Robot vibrations;
  • Optimization of robotic applications;
  • Control of mechanical systems.
  • The identification and dynamics of multibody systems;
  • Dynamics stability and control of vehicles;
  • The dynamics and control of robots;
  • Innovative robots;
  • Medical robotics (surgery, rehabilitation);

Prof. Dr. Matteo Massaro
Dr. Matteo Bottin
Prof. Dr. Basilio Lenzo
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the collection website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • multibody dynamics
  • multibody systems
  • multibody control
  • flexible bodies
  • vehicle dynamics
  • robotics
  • path planning

Published Papers (2 papers)

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2023

Jump to: 2022

17 pages, 10382 KiB  
Article
Analysis of Bifurcation Vibrations of an Industrial Robot Arm System with Joints Compliance
by Piotr Gierlak and Jerzy Warmiński
Appl. Sci. 2023, 13(21), 11941; https://doi.org/10.3390/app132111941 - 31 Oct 2023
Viewed by 810
Abstract
This paper deals with the analysis of nonlinear vibration phenomena in the arm system of an industrial robot. The presented mathematical model of the robot takes into account the flexibility of the joints, which results in low-frequency vibrations in the arm. The study [...] Read more.
This paper deals with the analysis of nonlinear vibration phenomena in the arm system of an industrial robot. The presented mathematical model of the robot takes into account the flexibility of the joints, which results in low-frequency vibrations in the arm. The study of vibration phenomena has been carried out using analytical, numerical and experimental methods. Special attention has been paid to bifurcation phenomena. The influence of two bifurcation parameters on the behaviour of the robot arm was studied. It was shown that the amplitude and frequency of the harmonic excitation create a nonlinear effect on the vibration amplitudes of the links. In bifurcation regions, the vibration amplitudes can even differ several times depending on the direction of changes in the bifurcation parameter. In general, the results indicate that, contrary to common practice, it is worth paying attention to nonlinear phenomena when analysing robot vibrations. Full article
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2022

Jump to: 2023

12 pages, 745 KiB  
Article
The Optimal Erection of the Inverted Pendulum
by Matteo Massaro, Stefano Lovato and David J. N. Limebeer
Appl. Sci. 2022, 12(16), 8112; https://doi.org/10.3390/app12168112 - 13 Aug 2022
Cited by 3 | Viewed by 1913
Abstract
The erection of the inverted pendulum is a classic control problem, which has appeared in several variants. One of the most challenging is the minimum-time erection of a pendulum that is mounted on a moving cart. The aim is to erect the pendulum [...] Read more.
The erection of the inverted pendulum is a classic control problem, which has appeared in several variants. One of the most challenging is the minimum-time erection of a pendulum that is mounted on a moving cart. The aim is to erect the pendulum from the ‘straight-down’ (stable equilibrium) to a ‘straight-up’ (unstable equilibrium) position in minimum time. The swing-up maneuver is usually addressed using a pre-defined control strategy, e.g., energy-based control or selecting the switching times in a bang-bang structure. The aim of this paper is to show that the minimum-time solution may have a singular arc, with the optimal control taking a bang-singular-bang form. The singular arc segment of the control law is a feedback law that is derived herein with the solution discussed. A sensitivity analysis of the solution structure is also performed by varying the model parameters. Finally, the time-optimal solution is compared with that obtained using an energy-based control strategy. Full article
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