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Artículo
Analytical and numerical stability analysis of a toroidal wheel with nonholonomic constraints
(Springer, 2024-02)
In this paper, a detailed and comprehensive linear stability analysis of a rolling toroidal wheel is performed. The wheel is modeled as a rigid toroid-shaped body rolling without slipping on a horizontal surface. The ...
Artículo
The dependent coordinates in the linearization of constrained multibody systems: Handling and elimination
(Elsevier, 2024-04-15)
In this paper, the handling of the dependent coordinates in the linearization of constrained multibody systems is clarified. To this end, a brief but comprehensive overview of linearization approaches used in the field of ...