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dc.contributor.authorFont Llagunes, Josep Maria
dc.contributor.authorKövecses, József
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.identifier.citationFont-Llagunes, J.M.; Kövecses, J. Analysis of topology changes in multibody systems. A: ECCOMAS Thematic Conference Multibody Dynamics. "ECCOMAS Thematic Conference Multibody Dynamics 2009". Varsòvia: European Community on Computational Methods in Applied Sciences, 2009, p. 1-11.
dc.description.abstractMechanical systems with time-varying topology appear frequently in natural or human-made artificial systems. The nature of topology transitions is a key characteristic in the functioning of such systems. In this paper, a concept to decouple kinematic and kinetic quantities at the time of topology transition is used. This approach is based 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. Two examples of systems with time-varying topology are analyzed: a bipedal walking system and a dual-pantograph robotic prototype making contact with a stiff environment. Detailed numerical and experimental analysis to gain insight into the dynamics and energetics of topology transitions is presented.
dc.format.extent11 p.
dc.publisherEuropean Community on Computational Methods in Applied Sciences
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Enginyeria mecànica
dc.subject.lcshMechanical engineering
dc.titleAnalysis of topology changes in multibody systems
dc.typeConference report
dc.subject.lemacDinàmica -- Matemàtica
dc.description.peerreviewedPeer Reviewed
dc.rights.accessRestricted access - publisher's policy
dc.description.versionPostprint (published version)
upcommons.citation.authorFont-Llagunes, J.M.; Kövecses, J.
upcommons.citation.contributorECCOMAS Thematic Conference Multibody Dynamics
upcommons.citation.publicationNameECCOMAS Thematic Conference Multibody Dynamics 2009

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