Title:
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Analytical and experimental studies of the dynamics of variable topology systems
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Author:
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Font Llagunes, Josep Maria; Kövecses, József
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica |
Abstract:
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Mechanical systems with time-varying topology appear frequently in various applications. The nature of topology transition is a key characteristic in the performance of such systems. In this paper, a concept to decouple kinematic and kinetic quantities at the time of topology transition is used. This approach relies on the use of impulsive bilateral constraints and it is a useful tool for the analysis of energy redistribution and velocity change when these constraints are suddenly established. Based on this concept, two examples of systems with time-varying topology are analyzed: a bipedal walking system and a dual-pantograph robotic prototype interacting with a stiff environment. Detailed numerical and experimental analysis to gain insight into the dynamics and energetics of topology transitions is presented. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Enginyeria mecànica -Mechanical engineering -Robòtica -- Congressos |
Rights:
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Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
Document type:
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Article - Published version Conference Object |
Published by:
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KC Edizioni
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