This paper presents a comprehensive review of friction modelling to provide an
understanding of design for durability within interacting systems. Friction is a complex …

In the dynamic analysis of flexible multibody systems, Hamiltonian formulations offer
advantages in numerical stabilization and systematic handling of systems with varying mass …

This paper presents differential equations of motion of a hydraulic excavator in the form of
Kane's equations. The equations proposed allow studying the excavator dynamics in the …

This article presents a method for determination of dynamic reaction forces in knuckle boom
cranes. The method is based on the dynamic modelling procedure, which is an extension of …

Matrix relations for kinematics and dynamics analysis of a spatial two-module Stewart-based
hybrid parallel robot are established in this paper. Knowing the relative motions of two …

This paper presents a multi-objective optimal design method for gravity compensators with
consideration of minimizing the joint reaction forces. High performance of the gravity …

For rigid multibody systems with redundant constraints, mathematical modeling and physical
interpretation of the obtained results are impeded due to the nonuniqueness of the …

Redundantly constrained mechanisms have–in general–non-uniquely calculated reactions
when modeled as rigid multibody systems (MBSs). However, some of the reactions may be …

In this paper, a novel design for gravity compensation of manipulators has been introduced
and its effect on the static and dynamic performance has been studied. The gravity …

This paper presents an optimization technique for dynamic balancing of a four-bar
mechanism for the purpose of minimization of joint reactions, shaking forces and shaking …