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Proceedings Papers

Interference Distance Calculation for Two Objects Bounded by Quadratic Surfaces

Inna Sharf, Meyer Nahon

Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 633-641, September 17–20, 1995

Paper No: DETC1995-0083

DOI: https://doi.org/10.1115/DETC1995-0083

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Topics: Algorithms, Multibody dynamics, Nonlinear programming, Optimization, Quadratic programming, Robotics, Shrinkage (Materials)

Proceedings Papers

Minimizing the Strain Energy for Flexible-Link Cooperating Manipulators

Qiao Sun, Inna Sharf, Meyer Nahon

Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A037, August 18–22, 1996

Paper No: 96-DETC/MECH-1557

DOI: https://doi.org/10.1115/96-DETC/MECH-1557

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Topics: Manipulators, Actuators, Damage, Deflection, Energy consumption, Stress

Proceedings Papers

Three Formulations of Sling Load Dynamics for UAV Motion Planning and Control

Alexander Cicchino, Inna Sharf

Proc. ASME. IDETC-CIE2018, Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A001, August 26–29, 2018

Paper No: DETC2018-85174

DOI: https://doi.org/10.1115/DETC2018-85174

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Topics: Dynamics (Mechanics), Path planning, Stress, Unmanned aerial vehicles, Cables, Elasticity, Aircraft, Clearances (Engineering), Flight, Lumped parameter models

Journal Articles

Validation of Nonlinear Viscoelastic Contact Force Models for Low Speed Impact

Yuning Zhang, Inna Sharf

J. Appl. Mech. September 2009, 76(5): 051002.

DOI: https://doi.org/10.1115/1.3112739

Published Online: June 16, 2009

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Topics: Damping, Deformation, Pendulums, Simulation, Steel, Force measurement, Simulation results, Velocity measurement, Energy dissipation, Signals

Proceedings Papers

Experimental Validation of Nonlinear Compliant Contact Force Models

Yuning Zhang, Inna Sharf

Proc. ASME. IDETC-CIE2007, Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, 395-405, September 4–7, 2007

Paper No: DETC2007-34978

DOI: https://doi.org/10.1115/DETC2007-34978

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Topics: Contact dynamics, Damping, Deformation, Energy dissipation, Modeling, Simulation

Proceedings Papers

Nonlinear Contact Parameter Estimation for Robotic Systems With Payload

Xiuping Mu, Inna Sharf

Proc. ASME. IDETC-CIE2007, Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, 445-454, September 4–7, 2007

Paper No: DETC2007-35391

DOI: https://doi.org/10.1115/DETC2007-35391

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Topics: Parameter estimation, Robotics, Algorithms, Deformation, Modeling, Computer software, Contact modeling, Curve fitting, Manipulators, Matlab

Proceedings Papers

Compliant Force Modelling for Impact Analysis

Yuning Zhang, Inna Sharf

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 595-601, September 28–October 2, 2004

Paper No: DETC2004-57220

DOI: https://doi.org/10.1115/DETC2004-57220

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Topics: Modeling, Damping, Contact dynamics, Approximation, Biomechanics, Dynamics (Mechanics), Impulse (Physics), Momentum, Multibody dynamics, Physics

Proceedings Papers

Contact Parameter Estimation With a Space Robot Verification Facility

Julie Agar, Inna Sharf, Christian Lange, Yves Gonthier

Proc. ASME. IDETC-CIE2005, Volume 6: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, 433-442, September 24–28, 2005

Paper No: DETC2005-84346

DOI: https://doi.org/10.1115/DETC2005-84346

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Topics: Manipulators, Parameter estimation, Robots, Robotics, Simulation, Contact dynamics, Algorithms, Computer simulation, Design, Gravity (Force)

Proceedings Papers

A Contact Force Solution for Non-Colliding Contact Dynamics Simulation

Inna Sharf, Yuning Zhang

Proc. ASME. IDETC-CIE2006, Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B, 677-687, September 10–13, 2006

Paper No: DETC2006-99139

DOI: https://doi.org/10.1115/DETC2006-99139

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Topics: Contact dynamics, Simulation, Wedges, Contact mechanics, Biomechanics, Deformation, Displacement, Dynamics (Mechanics), Friction, Geometry

Journal Articles

Rigid Body Impact Modeling Using Integral Formulation

Yuning Zhang, Inna Sharf

J. Comput. Nonlinear Dynam. January 2007, 2(1): 98–102.

DOI: https://doi.org/10.1115/1.2389232

Published Online: September 10, 2006

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Topics: Friction, Impact modeling, Impulse (Physics), Stiction, Differential equations, Integral equations, Modeling

Journal Articles

Comparison and Validation of Dynamics Simulation Models for a Structurally Flexible Manipulator

Jeff Stanway, Inna Sharf, Chris Damaren

J. Dyn. Sys., Meas., Control. September 1998, 120(3): 404–409.

DOI: https://doi.org/10.1115/1.2805417

Published Online: September 1, 1998

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Topics: Dynamics (Mechanics), Flexible manipulators, Simulation models, Damping, Finite element model, Manipulators

Journal Articles

Simulation of Flexible-Link Manipulators With Inertial and Geometric Nonlinearities

Chris Damaren, Inna Sharf

J. Dyn. Sys., Meas., Control. March 1995, 117(1): 74–87.

DOI: https://doi.org/10.1115/1.2798525

Published Online: March 1, 1995

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Topics: Manipulators, Simulation, Deformation, Dynamics (Mechanics), Eigenfunctions, Elasticity, Equations of motion, Finite element methods, Kinematics, Modeling