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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
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 ...