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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 ...
Artículo
An efficient and accurate linearization approach for hydraulically actuated multibody systems with holonomic and nonholonomic constraints
(Springer, 2023-03)
Hydraulics is often used to actuate mechanisms in the applications of heavy machinery. In this work, a linearization approach for hydraulically driven multibody systems is presented. The approach allows linearizing the ...