Zagreb, Croatia, July 1–4, 2013

Proceedings of the

ECCOMAS Thematic Conference on

Multibody Dynamics 2013

Edited byZdravko TerzeMilan Vrdoljak

University of ZagrebFaculty of Mechanical Engineering and Naval Architecture

Zagreb, 2013

Prof. Dr. Zdravko Terze

University of ZagrebFaculty of Mechanical Engineering and Naval ArchitectureDepartment of Aeronautical EngineeringIvana Lucica 5, HR–10002 Zagreb, Croatiae-mail: zdravko.terze@fsb.hr

Prof. Dr. Milan Vrdoljak

University of ZagrebFaculty of Mechanical Engineering and Naval ArchitectureDepartment of Aeronautical EngineeringIvana Lucica 5, HR–10002 Zagreb, Croatiae-mail: milan.vrdoljak@fsb.hr

A CIP catalogue record for this book is available from the National and University Library in Zagreb under846629.

ISBN 978-953-7738-22-8 (CD Proceedings)

c© Faculty of Mechanical Engineering and Naval Architecture,Zagreb, Croatia, 2013.

Executive Editor: Milan Vrdoljak

CD design: Marijan Andric

CD Cover design: Suncana Matijasevic

Organization

ECCOMAS Thematic Conference on Multibody Dynamics 2013 is organized under the auspices of

Croatian Academy of Sciences and Arts

Supporting Organizations

Industrial Supporting Organizations

AVL AST d.o.o. Croatia

Koncar – Electrical Engineering Institute, Inc.

Brodarski Institute

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Conference Chair

Zdravko Terze (Univ. of Zagreb, Croatia)

Scientific Committee

Jorge Ambrosio (Instituto Superior Tecnico, Portugal)Kurt Anderson (Rensselaer Polytechnic Institute, USA)Martin Arnold (Martin Luther Univ. Halle-Wittenberg, Germany)Olivier A. Bauchau (Shanghai Jiao Tong Univ., China; Georgia Tech, USA)Viktor Berbyuk (Chalmers Univ. of Technology, Sweden)Peter Betsch (Univ. of Siegen, Germany)Wojciech Blajer (Technical Univ. of Radom, Poland)Carlo L. Bottasso (Politecnico di Milano, Italy)Olivier Bruls (Univ. of Liege, Belgium)Alberto Cardona (CIMEC (INTEC), UNL-Coniceet, Argentina)Javier Cuadrado (Univ. de La Coruna, Spain)Peter Eberhard (Univ. of Stuttgart, Germany)Jose L. Escalona (Univ. of Seville, Spain)Juan C. Garcıa Orden (Technical Univ. of Madrid, Spain)Abhinandan Jain (Caltech, JPL, USA)Ben Jonker (Univ. of Twente, Netherlands)Sung-Soo Kim (Chungnam National Univ., Korea)Jozsef Kovecses (McGill Univ., Canada)Dirk Lefeber (Univ. Brussels (VUB), Belgium)Pierangelo Masarati (Politecnico di Milano, Italy)John McPhee (Univ. of Waterloo, Canada)Aki Mikkola (Lappeenranta Univ. of Technology, Finland)Andreas Muller (Institute of Mechatronics, Chemnitz, Germany)Dan Negrut (Univ. of Wisconsin-Madison, USA)Friedrich Pfeiffer (TU-Munchen, Germany)Werner Schiehlen (Univ. of Stuttgart, Germany)Arend Schwab (TU Delft, Netherlands)Ahmed Shabana (Univ. Illinois at Chicago, USA)Zdravko Terze (Univ. of Zagreb, Croatia)Wan Suk Yoo (Pusan National Univ., Korea)Hiroaki Yoshimura (Waseda Univ., Japan)

Organizing Committee

Milan Vrdoljak, ChairMarijan AndricDubravko MatijasevicSilvana Skoko-Gavranovic, SecretaryDario Zlatar

Conference Venue

Faculty of Mechanical Engineering and Naval ArchitectureUniversity of Zagreb, Croatia

July 1–4, 2013

http://eccomas-multibody.fsb.hr

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Invited Sessions and Organizers

Aerospace Applications

Abhinandan Jain (Caltech, JPL, USA)Jozsef Kovecses (McGill Univ., Canada)Pierangelo Masarati (Politecnico di Milano, Italy)

Biomechanics

Dirk Lefeber (Univ. Brussels (VUB), Belgium)Arend Schwab (TU Delft, Netherlands)

Contact and ConstraintsPeter Betsch (Univ. of Siegen, Germany)Juan C. Garcıa Orden (Technical Univ. of Madrid, Spain)Friedrich Pfeiffer (TU-Munchen, Germany)

Control Modelling and ApplicationsWojciech Blajer (Technical Univ. of Radom, Poland)Ben Jonker (Univ. of Twente, Netherlands)Sigrid Leyendecker (Univ. of Erlangen-Nuremberg, Germany)

Efficient Simulation and Real-Time ApplicationsKurt Anderson (Rensselaer Polytechnic Institute, USA)Javier Cuadrado (Univ. de La Coruna, Spain)Sung-Soo Kim (Chungnam National Univ., Korea)

Flexible Multibody DynamicsAlberto Cardona (CIMEC (INTEC), UNL-Coniceet, Argentina)Aki Mikkola (Lappeenranta Univ. of Technology, Finland)Ahmed Shabana (Univ. Illinois at Chicago, USA)

Formulations and Numerical MethodsMartin Arnold (Martin Luther Univ. Halle-Wittenberg, Germany)Olivier A. Bauchau (Shanghai Jiao Tong Univ., China; Georgia Tech, USA)Carlo L. Bottasso (Politecnico di Milano, Italy)

Mechatronics and RoboticsViktor Berbyuk (Chalmers Univ. of Technology, Sweden)Andreas Muller (Institute of Mechatronics, Chemnitz, Germany)Mircea Teodorescu (Univ. Cranfield, UK, UC Santa Cruz, USA)

Multiphysics and Coupled Problems in MBSRudranarayan M. Mukherjee (Caltech, JPL, USA)Hiroaki Yoshimura (Waseda University, Japan)

Optimization and Sensitivity AnalysisOlivier Bruls (Univ. of Liege, Belgium)Peter Eberhard (Univ. of Stuttgart, Germany)

Railroad Vehicle DynamicsJose L. Escalona (Univ. of Seville, Spain)Tae-Won Park (Ajou Univ., Korea)

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Software Development and EducationDan Negrut (Univ. of Wisconsin-Madison, USA)Olivier Verlinden (Univ. Mons, Belgium)Wan Suk Yoo (Pusan National Univ., Korea)

Vehicle Dynamics and SimulationJorge Ambrosio (Instituto Superior Tecnico, Portugal)Werner Schiehlen (Univ. of Stuttgart, Germany)

Special Session on Benchmark Problems in Multibody DynamicsJavier Cuadrado (Univ. de La Coruna, Spain)Michael Valasek (Czech Technical Univ. in Prague)

Introduction

To meet the challenges of the fast development of new technologies, many areas of contemporary engineeringand applied sciences, which were conventionally divided or loosely coupled in the past, combine their method-ologies and merge together to provide new analytical and computational tools. This is especially evident in thearea of multibody system dynamics, a branch of computational mechanics dealing with modelling principlesand numerical methods for dynamic analysis, simulation and control of various complex mechanical systems.

Originating in analytical and continuum mechanics, as well as in computer science and applied mathematics,modelling methodologies and computational procedures of multibody system dynamics provide a basis fordynamic analysis and virtual prototyping of innovative applications in many fields of contemporary engineering.With the utilization of the computational models and algorithms that classically belonged to different fieldsof applied science, where in certain applications several physical models co-exist and interact within the samesimulation procedure, multibody system dynamics delivers reliable simulation platforms for diverse highly-developed industrial products, such as vehicle and railway systems, aeronautical and space vehicles, roboticmanipulators, autonomous systems, smart structures, biomechanical applications and nano-technologies.

However, since application-based modelling and successful implementation of computational methodologiesraise many questions in terms of new solutions and optimal use of specific models and numerical procedures,multibody system dynamics is a very active research field. To maintain this development and provide a platformto discuss relevant scientific topics in this rapidly growing discipline, the ECCOMAS Thematic Conference onMultibody Dynamics was initiated in Lisbon in 2003, and continued in Madrid in 2005, Milano in 2007, Warsawin 2009 and Brussels in 2011. Continuing this very successful series, this edition of the ECCOMAS ThematicConference on Multibody Dynamics is held in Zagreb, Croatia, and organized at the University of Zagreb,Faculty of Mechanical Engineering and Naval Architecture, from 1 to 4 July 2013.

The objective of the Conference is to present the state of the art in the theory and applications of multibodysystem dynamics, to provide a forum for discussions on relevant research issues and to serve as a meetingpoint for international researchers, scientists and experts from academia, research laboratories and industry.Hospitality of the City of Zagreb will contribute to the success of the Conference by providing a culturallyinteresting and relaxing urban environment of the city that has been an academic centre of the region for morethan 340 years.

I am grateful to all participants of the ECCOMAS Multibody Dynamics 2013 for their high-quality papersand contributions. I am also very much indebted to the members of the Scientific Committee for their valu-able suggestions, organization of the peer-review process, and advice in the organization of the Conference.The Conference has been supported by a number of distinguished international and Croatian institutions andpersonal involvement of the colleagues who contributed to this support is very much appreciated.

I would especially like to take this opportunity to thank all my collaborators who have been involved in theorganization of the ECCOMAS Multibody Dynamics 2013. It has been a great effort and many persons havemade contributions well beyond the call of duty. In particular, the Organizing Committee has worked tirelesslyand I would like to thank them for all their work.

Zdravko Terze

Conference Chair

Zagreb, May 2013

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Contents

Contents xi

Aerospace Applications 1

Modeling MGB-Fuselage joint on helicopter with an energetic approach “multi-Bond graph”

Benjamin Boudon, Francois Malburet, Jean-Claude Carmona, Georges Tod . . . . . . . . . . . . 3

Regular and Chaotic Dynamics of a Spacecraft with Internal Mass Redistribution Moving in EllipticOrbit

Alexander Burov, Ivan Kosenko . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Multi-Body Approach to the Simulation of Particular Drop Test for an Aircraft Landing Gear

Romeo Di Leo, Angelo De Fenza, Marco Barile, Domenico Moccia, Leonardo Lecce . . . . . . . . 23

Smooth/Non-Smooth Dynamics Co-Simulation of Helicopter Rotor Sailing

Matteo Fancello, Pierangelo Masarati, Marco Morandini . . . . . . . . . . . . . . . . . . . . . . . 35

Finite element simulation of high velocity impact analysis on composite structure parts

Zoran Pelagic, Martin Dudinsky, Milan Zmindak . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Multi-scale Dynamics, Control, and Simulation of Granular Spacecraft

Marco B. Quadrelli, Scott Basinger, Grover Swartzlander . . . . . . . . . . . . . . . . . . . . . . 51

Development of Tether Space Mobility Device

Shoichiro Takehara, Takahiro Nishizawa, Masaya Kawarada, Kazunori Hase, Yoshiaki Terumichi 61

Biomechanics 71

Development of a Multibody Model of the Lower Limbs to Evaluate the Effect of Ankle-foot Orthoseson Human Gait

Philippe Ferreira, Francisco Geu Flores, Mario Siebler, Paulo Flores, Andres Kecskemethy . . . 73

AMP-Foot 2.0 Prosthesis Dynamic Behavior, Preliminary Computational Multibody Dynamics Sim-ulation Results

Svetlana Grosu, Pierre Cherelle, Chris Verheul, Bram Vanderborght, Dirk Lefeber . . . . . . . . 81

Strategies for Model Reduction in Adaptive DCA-based Multibody Modeling of Biopolymers

Jeremy Laflin, Kurt Anderson, Imad Khan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Muscle paths in biomechanical multibody simulations

Ramona Maas, Sigrid Leyendecker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Design and experimental validation of a haptic steering interface for the control input of a bicyclesimulator

Arend Schwab, Antonio Recuero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Contact and Constraints 111

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Efficient Simulation of Cylindrical Gears in Approximate Line Contact

Jochen Damerau . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Contact Analysis for Different Viscoelastic Contact Force Models

Janete Lara Fontainha Alves, Joao Paulo Flores Fernandes, Nuno Ricardo Maia Peixinho . . . . 123

Comparison of index-3, index-2 and index-1 DAE solvers for nonsmooth multibody systems withunilateral and bilateral constraints

Mounia Haddouni, Vincent Acary, Jean-Daniel Beley . . . . . . . . . . . . . . . . . . . . . . . . 133

Dynamic Simulation of Coil Contact in Valve Springs by using a Semi-Smooth Newton Method

Josef Haslinger, Guenter Offner, Martin Sopouch . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

Dynamic Property of the Triangle Rotary Engine Mechanism

Chiu-Fan Hsieh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

Minimal Coordinates Formulation of Contact Dynamics

Abhinandan Jain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

Dynamic Simulation and Control for Robotic Manipulation of Planar Objects with Rolling

Liazid Kerha, Belkacem Bounab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

Modeling of Large Scale Granular Systems using the Discrete Element Method and the Non-SmoothContact Dynamics Method: A Comparison

Jan Kleinert, Martin Obermayr, Matthias Balzer . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Optimal Control of Standing Jump Movements

Michael Koch, Sigrid Leyendecker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

Parametric excitation of non-smooth systems: the unilaterally constrained Hill’s equation

Remco I. Leine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

Derivation and Investigation of Conditions on the Consistent Application of Newton’s Law to Con-strained Mechanical Systems

Sotirios Natsiavas, Elias Paraskevopoulos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

Multibody motion in implicitly constrained director format with links via explicit constraints

Martin Bjerre Nielsen, Steen Krenk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

Unilateral Contact Kinematics

Friedrich Pfeiffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

Modeling flexible roller ball bearings in multibody dynamics

Anne Schwenkenberg, Jochen Damerau, Hartmut Hetzler, Wolfgang Seemann . . . . . . . . . . . 251

Control Modelling and Applications 257

Application of the Transfer Matrix Method to Control Problems

Dieter Bestle, Xiaoting Rui . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

Adjoint-based Optimal Control Design for a Cart Pendulum System with Dry Friction

Domenico Guida, Fabio Nilvetti, Carmine Maria Pappalardo . . . . . . . . . . . . . . . . . . . . 269

Modeling of flexible non-linear dynamic links in Nano-Positioning Motion Systems

Meinko Hoogerkamp, Rob Waiboer, Ronald Aarts . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

Operational Space Inertia for Robots with Internal Loops

Abhinandan Jain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

A Numerical Approach to Multiobjective Optimal Control of Multibody Dynamics

Maik Ringkamp, Sina Ober-Blobaum, Sigrid Leyendecker . . . . . . . . . . . . . . . . . . . . . . . 305

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Parameter Study on the Dimension Reduction Method of ANCF Model for Controller Design of Flex-ible Beam

Yoshiki Sugawara, Koki Takeda, Shinya Otsuki, Nobuyuki Kobayashi . . . . . . . . . . . . . . . . 317

Control of the Underactuated Mechanical Systems by Harmonics

Michael Valasek, Zdenek Neusser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329

Efficient Simulation and Real-Time Applications 341

Large Deformation Formulation for the Flexible Divide-and-Conquer Algorithm

Kurt Anderson, Imad Khan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

Tree Harvester Truck Simulator based on the Real-time Multibody Simulation

Mohamad Ezral Bin Baharudin, Asko Rouvinen, Pasi Korkealaakso, Aki Mikkola . . . . . . . . . 359

Soft material modeling for muscle separation process control and dynamic trajectory generation

Nabil Essahbi, Belhassen-Chedli Bouzgarrou, Grigore Gogu . . . . . . . . . . . . . . . . . . . . . 375

A Real-time Multibody Dynamics Model for Unmanned Robot Vehicle based on the Subsystem Syn-thesis Method

Myoung-Ho Kim, Hee Chan Kang, Hong-Sun Yoon, Sung-Soo Kim . . . . . . . . . . . . . . . . . 383

Use of Sub-System Global Modal Parameterization Models in Extended Kalman Filtering for OnlineCoupled State/Force Estimation.

Frank Naets, Roland Pastorino, Javier Cuadrado, Wim Desmet . . . . . . . . . . . . . . . . . . . 391

A novel time varying parametric model order reduction scheme with focus on dynamic stress recovery

Tommaso Tamarozzi, Gert H.K Heirman, Wim Desmet . . . . . . . . . . . . . . . . . . . . . . . 401

Flexible Multibody Dynamics 411

A Comparison of DAE Integrators in the Context of Benchmark Problems for Flexible MultibodyDynamics

Peter Betsch, Christian Becker, Marlon Franke, Yinping Yang . . . . . . . . . . . . . . . . . . . 413

Asynchronous variational Lie group integration for geometrically exact beam dynamics

Francois Demoures, Francois Gay-Balmaz, Thomas Leitz, Sigrid Leyendecker, Sina Ober-Blobaum,Tudor Ratiu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425

On the Use of the Rotation Parameters in the Large Displacement Analysis of Beams

Jieyu Ding, Michael Wallin, Cheng Wei, Antonio M. Recuero, Ahmed A. Shabana . . . . . . . . 435

Calculation Efficiency of Beam Elements with Algebraic Constraints

Kensuke Hara, Masahiro Watanabe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

Numerical experiments for viscoelastic Cosserat rods with Kelvin-Voigt damping

Holger Lang, Sigrid Leyendecker, Joachim Linn . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

Preloaded Initial State Evaluation of Flexible Multibody Systems

Norbert Lorenz, Gunter Offner, Alessandro Colla . . . . . . . . . . . . . . . . . . . . . . . . . . . 463

Model parameters influence of a simple mechanical system with fibre and pulley with respect toexperimental measurements

Pavel Polach, Michal Hajzman, Jaroslav Vaclavık, Zbynek Sika, Petr Svatos . . . . . . . . . . . . 473

Modeling of Sliding Joint for B-spline Surface

Hiroyuki Sugiyama, Yuta Mizuno . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483

Coupled Multibody - Finite Element Model for the Study of an Off Road Vehicle Frame Frontal Impact

Stefan Tabacu, Alin Haloiu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495

Evaluation of Compliant Mechanical Joint Models: A Comparative Study

xiv

Michael Steven Wallin, Ahmed K. Aboubakr, Paramsothy Jayakumar, Michael D. Letherwood,Ashraf Hamed, Ahmed A. Shabana . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

Comparison and Experimental Validation of Different Multibody Codes for Wind Turbine Modelling

Janos Zierath, Roman Rachholz, Christoph Woernle . . . . . . . . . . . . . . . . . . . . . . . . . 545

Formulations and Numerical Methods 559

Modeling Flexible Multibody Systems by Moving Dirichlet Boundary Conditions

Robert Altmann . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561

Numerical Determination of a Sufficient Local Approximation Order of Loop-Closure Conditions forOverconstrained Mechanisms

Rene Bartkowiak, Christoph Woernle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 569

Advanced Beam Theory for Multibody Dynamics

Olivier A. Bauchau, Shilei Han . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575

Application of a gyrostatic rigid body formulation in the context of a direct transcription method foroptimal control in multibody dynamics

Christian Frieder Becker, Peter Betsch, Ralf Siebert . . . . . . . . . . . . . . . . . . . . . . . . . 593

Computing time investigations of variational multirate integrators

Tobias Gail, Sigrid Leyendecker, Sina Ober-Blobaum . . . . . . . . . . . . . . . . . . . . . . . . . 603

Local Linearization Method in the Integration of Multibody Equations

Gibin Gil, Ricardo G. Sanfelice, Parviz E. Nikravesh . . . . . . . . . . . . . . . . . . . . . . . . . 613

Reaction Efforts Associated with Non-Holonomic and Rheonomic Constraints in Index-3 AugmentedLagrangian Formulations

Francisco Gonzalez, Daniel Dopico, Javier Cuadrado, Jozsef Kovecses . . . . . . . . . . . . . . . 623

A ?ovel Study of Rigid Body Kinematics and Dynamics based on a Non-Riemannian Geometry

Sotirios Natsiavas, Elias Paraskevopoulos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633

A New Form of the Transfer Matrix Method for Multibody Systems

Xiaoting Rui, Dieter Bestle, Jianshu Zhang . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643

Computational Kinematics of Multibody Systems: The Advantages of a Topological Method Basedon its Kinematic Structure

Mariano Saura, Javier Cuadrado, Daniel Dopico, Ana I. Celdran . . . . . . . . . . . . . . . . . . 655

Parallelization of Multibody System Dynamics by Additional Dynamics

Michael Valasek, Ladislav Mraz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665

Alternative approaches to the incorporation of control constraints in multibody dynamics

Yinping Yang, Peter Betsch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 673

Riccati Transfer Matrix Method for Eigenvalue Problem of the System with Antisymmetric Boundaries

Jianshu Zhang . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 685

On integration of rotational quaternions from angular velocities

Eva Zupan, Miran Saje, Dejan Zupan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695

Mechatronics and Robotics 703

A Methodology to Characterize Critical Falling Configurations for a Humanoid Robot

Giovanna Beninati, Matteo Leonetti, Nikos G. Tsagarakis, Darwin G. Caldwell . . . . . . . . . . 705

Elastodynamics Analysis of Icaro: a PKM for Pure Translational Motion

Alessandro Cammarata, Giovanna Adele Naselli, Rosario Sinatra . . . . . . . . . . . . . . . . . . 713

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CPG tuning using sensory feedback for walking applications

Christophe Chariot, Enrico Filippi, Olivier Verlinden . . . . . . . . . . . . . . . . . . . . . . . . . 721

The Modeling of a Mobile Robot and Its Feedback Control via Pole-Placement

Yann G. Garneau, Jorge Angeles, Alessio Salerno . . . . . . . . . . . . . . . . . . . . . . . . . . 731

Dynamics of Serial-chain Multibody Systems Using Equimomental systems of Point-masses

Vinay Gupta, S K Saha, Himanshu Chaudhary . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741

On Modeling and Simulation of 6 Degrees of Freedom Stewart Platform Mechanism Using MultibodyDynamics Approach

Khaled Mohamed Rashad Mohamed Nabih Mohamed Youssef, Ayman El-Badawy . . . . . . . . . 751

Dynamic modeling and control of spatial flexible manipulators for trajectory tracking application

Rajesh Kumar Moolam, Francesco Braghin, Federico Vicentini . . . . . . . . . . . . . . . . . . . 761

Dynamic behavior model of a machining robot and stability prediction

Said Ghazanfar Mousavi, Vincent Gagnol, Belhassen-Chedli Bouzgarrou, Ray Pascal . . . . . . . 771

Dynamic Behavior of Inverted Pendulum Vehicle and Driver during Deceleration

Chihiro Nakagawa, Shunsuke Arakawa, Atsuhiko Shintani, Tomohiro Ito . . . . . . . . . . . . . . 781

Vibration confinement in lightly damped multibody systems: an hybrid active-passive approach

Dario Richiedei, Alberto Trevisani . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789

Development of Snake Robot based on Multi-body Dynamics Simulation

Hocheol Shin, Jeong Joo Kwon, Bong Cheol Seo, Tae Won Kim, Sung Soo Kim . . . . . . . . . . 797

Hybrid robotic system featuring a combination of a continuum robot and a rigid robotic arm: staticand differential kinematic modeling

Gabrijel Smoljkic, Gianni Borghesan, Bert Willaert, Jos Vander Sloten . . . . . . . . . . . . . . 805

Design and Application of A Piezoelectric Device Producing Vibration and Power

Yung Ting, Chin-Chih Yeh, Chih-Hsuan Yu, Hsiang-Hung Huang, Chia-An Wei . . . . . . . . . 813

Joint-Space Dynamics Algorithm for Tree Structure Space Manipulators by Using Inertia MappingMatrix

Mingming Wang, Ulrich Walter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 819

Modal Measurements and Model Corrections of a Large Stroke Compliant Mechanism

W. Wijma, S.E. Boer, R.G.K.M. Aarts, D.M. Brouwer, W.B.J. Hakvoort . . . . . . . . . . . . . 831

Tracking Control of a Balancing Robot

Tobias Zaiczek, Matthias Franke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 845

Multiphysics and Coupled Problems in MBS 855

Bifurcation Analysis of Self-excited Thermoacoustic Oscillations in Damper-equipped CombustionChambers

Michael Baumann, Remco I. Leine, Nicolas Noiray, Bruno Schuermans . . . . . . . . . . . . . . 857

Design of towed vehicle for polluting monitoring

Alessandro Cammarata, Michele Lacagnina, Andrea Litrico, Giovanna Adele Naselli, RosarioSinatra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 867

Application of Viscous Vortex Domains Method for Solving Flow-Structure Problems

Yaroslav Alexeevich Dynnikov, Galina Yakovlevna Dynnikova . . . . . . . . . . . . . . . . . . . . 877

An Approach for the Spatial Coupling of Multibody System Chain in a Partitioned Algorithm

Dubravko Matijasevic, Zdravko Terze . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 883

Solver Coupling between Multibody and Electro-Magnetic Systems

xvi

Robert Schmoll, Bernhard Schweizer, Christian Simonidis, Octavian Craciun, Veronica Biagini . 893

Cases of Integrability in Transcendental Functions in 3D Dynamics of a Rigid Body Interacting Witha Medium

Maxim V. Shamolin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 903

A New Technique for Stronger Coupling between Multibody System and Nonlinear Finite ElementSolvers in Co-simulation Environments

Tariq Sinokrot, Philippe Jetteur, Hunor Erdelyi, Frederic Cugnon, William Prescott . . . . . . . 913

Numerical modeling of the docking operation in the MAAT project

Dean Vucinic, Anna Sunol, Steve Vanlanduit, Andrey Aksenov, Tatyana Markova, Igor Moskalyov 925

Optimization and Sensitivity Analysis 935

Efficient response optimization of realistic vehicle models using an automatically-differentiated semi-recursive formulation

Alfonso Callejo, Javier Garcıa de Jalon, Pablo Luque, Daniel Alvarez . . . . . . . . . . . . . . . 937

Reliability-based Design Optimization applying Polynomial Chaos Expansion: Theory and Applica-tions

Alberto Clarich, Mariapia Marchi, Enrico Rigoni, Rosario Russo . . . . . . . . . . . . . . . . . . 947

Gradient-Based Optimization of Flexible Multibody Systems Using the Absolute Nodal CoordinateFormulation

Alexander Held, Robert Seifried . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 957

Control of Harmonically Driven Resonating Compliant Structures using Local Structural Modifications

Hugo J. Peters, Johannes F.L. Goosen, Paolo Tiso, Fred van Keulen . . . . . . . . . . . . . . . . 965

Railroad Vehicle Dynamics 975

A railway HIL system for the safety on board subsystem testing activities: controller robustnessanalysis

Roberto Conti, Benedetto Allotta, Franco Cavaliere, Enrico Meli, Luca Pugi, Alessandro Ridolfi . 977

Dynamic Modeling of a Magnetic Suspension and Propulsion for a Guided-Transportation System

Hyung-suk Han, Jongboo Han, Jinwoo Park, Changhyun Kim, Doyoung Park, Sung-Soo Kim . . 987

Development of an Innovative Weigh in Motion System for Railway Vehicles

Mirko Ignesti, Alice Innocenti, Lorenzo Marini, Enrico Meli, Luca Pugi, Andrea Rindi . . . . . . 995

Fault detection of multiybody systems applied to railway vehicles

Mathias Jesussek, Katrin Ellermann . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1005

Development and Validation of a Wear Model for the Prediction of Wheel and Rail Profile Evolutionon Complex Railway Networks

Enrico Meli, Mirko Ignesti, Alice Innocenti, Lorenzo Marini, Andrea Rindi . . . . . . . . . . . . 1015

Optimization of a bogie primary suspension damping to reduce wear in railway operations

Seyed Milad Mousavi Bideleh, Viktor Berbyuk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1025

Development of Air Suspension Model with Leveling and Differential Pressure Valves and its Experi-mental Validation for Use in Railroad Vehicle Dynamics Simulation

Toshihisa Nakajima, Yoshiyuki Shimokawa, Masaaki Mizuno, Hiroyuki Sugiyama . . . . . . . . . 1035

Development of Pantograph Model using Multibody Dynamics and Bench Test Evaluations

Hironobu Sunami, Yoshiaki Terumichi, Masahito Adachi, Takeshi Narita . . . . . . . . . . . . . 1047

Software Development and Education 1057

xvii

Development of a virtual laboratory in the framework of the education of theoretical mechanics taughtto undergraduate engineering students

David Wattiaux, Olivier Verlinden . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1059

Vehicle Dynamics and Simulation 1071

Modelling and Control of an Autonomous Underwater Vehicle for Mobile Manipulation

Benedetto Allotta, Roberto Conti, Riccardo Costanzi, Francesca Giardi, Enrico Meli, AlessandroRidolfi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1073

A multibody model to assess the effect of automotive motor in-wheel configuration on vehicle stabilityand comfort

Javier Cuadrado, David Vilela, Inaki Iglesias, Adrian Martın, Alberto Pena . . . . . . . . . . . . 1083

Use of an implicit non-linear FEA multi-model solver for the dynamic simulation of an automotivevehicle with meshed tires

Frederic Cugnon, Philippe Jetteur, Frederic Pascon, Tom van Eekelen . . . . . . . . . . . . . . . 1093

Reduction of Vehicle Suspension Models to Single-degree-of-freedom Equivalent Kinematic Joints

Andrew Hall, Chad Schmitke, Thomas Uchida, John McPhee . . . . . . . . . . . . . . . . . . . . 1103

Symbolic Calculation of the Base Inertial Parameters of a Low Mobility Mechanism

Xabier Iriarte, Javier Ros, Francisco Valero, Vicente Mata, Jokin Aginaga . . . . . . . . . . . . 1113

A novel 3-dof parallel mechanism employed in a vehicle suspension for the Improvement of HandlingPerformance

Fernando Malvezzi, Tarcisio Antonio Hess Coelho . . . . . . . . . . . . . . . . . . . . . . . . . . 1125

On the use of geometrically exact shells for dynamic tire simulation

Michael Roller, Peter Betsch, Axel Gallrein, Joachim Linn . . . . . . . . . . . . . . . . . . . . . 1135

Development of Steering HILS System with Multibody Kinematics Model of Front Suspension

Masashi Tsushima, Taichi Shiiba . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1145

Special Session on Benchmark Problems in Multibody Dynamics 1151

A Library of Computational Benchmark Problems for the Multibody Dynamics Community

Ramin Masoudi, Thomas Uchida, David Vilela, Alberto Luaces, Javier Cuadrado, John McPhee 1153

History of Benchmark Problems in Multibody Dynamics

Werner Schiehlen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1163

Benchmark Problems for Computational Efficiency of Rigid Multibody System Dynamics

Michael Valasek, Zbynek Sika . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1173

Author Index 1177