Journal of Applied and Computational Mechanics
Virtual Prototyping, Multibody Dynamics, and Control Design of an Adaptive Lift Table for Material Handling
Document Type : Research Paper
Authors
Department of Industrial Engineering, University of Salerno, Via Giovanni Paolo II 132, 84084 Fisciano, Italy
Abstract
This paper is devoted to presenting the results of the computer-aided design, the multibody dynamic analysis, and the proportional-derivative control synthesis of an adaptive mechanism serving as a lifting table. More specifically, the first part of the manuscript deals with the methodological approach and the mathematical background employed in the entire research work, whereas the second part of the present paper is focused on the model development and the numerical experiments carried out in this investigation. The analytical derivations presented herein demonstrate that the desired adaptive behavior can be successfully obtained for the virtual prototype of the lift mechanism devised in this investigation. Furthermore, a detailed CAD model of the proposed design was constructed in this investigation using SOLIDWORKS. To this end, particular attention was paid to the actual assembly and disassembly of each mechanical component, in conjunction with the choice of the actuators and sensors that are necessary for the proper functioning of the lifting mechanism. Then, a three-dimensional multibody model was developed starting from the CAD model of the virtual prototype devised in this investigation. The resulting multibody model, following appropriate simplifications, was subsequently imported into the MATLAB virtual environment, thereby allowing for readily performing kinematic and dynamic simulations of the nonlinear behavior of the mechanical system under study by using the SIMSCAPE MULTIBODY computational software. By doing so, the development of an appropriate control strategy, as well as the analysis of its behavior under loading and unloading goods conditions, was carried out and tested in the case of four different scenarios considered as the case study. For this purpose, the applicative scenarios considered are: 1) an impulsive loading scenario; 2) a progressive loading scenario; 3) an impulsive unloading scenario; 4) and a progressive unloading scenario. The performance of the feedforward plus feedback control strategy devised in this study was discussed based on several computer simulations. Numerical simulations demonstrate that the desired adaptive behavior is successfully obtained for the virtual prototype of the lift table designed in this study.
Keywords
- Computer-Aided Design
- Ergonomics
- Manual Material Handling
- Adaptive Mechanism
- Multibody Dynamic Analysis
- Feedforward and Feedback Control Design
Main Subjects
Publisher’s Note Shahid Chamran University of Ahvaz remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
[1] Gu, S., Chen, J., Tian, Q., An implicit asynchronous variational integrator for flexible multibody dynamics, Computer Methods in Applied Mechanics and Engineering, 2022, 401, 115660.
[2] Wang, K., Tian, Q., A nonsmooth method for spatial frictional contact dynamics of flexible multibody systems with large deformation, International Journal for Numerical Methods in Engineering, 2023, 124(3), 752–779.
[3] Shabana, A.A., Integration of computer-aided design and analysis: application to multibody vehicle systems, International Journal of Vehicle Performance, 2019, 5(3), 300–327.
[4] Bettega, J., Boschetti, G., Frade, B.R., González, F., Piva, G., Richiedei, D., Trevisani, A., Numerical and experimental investigation on the synthesis of extended kalman filters for cable-driven parallel robots modeled through daes, Multibody System Dynamics, 2023, 1–30.
[5] Cammarata, A., Lacagnina, M., Sinatra, R., Closed-form solutions for the inverse kinematics of the agile eye with constraint errors on the revolute joint axes, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 317–322.
[6] Villecco, F., Pellegrino, A., Entropic measure of epistemic uncertainties in multibody system models by axiomatic design, Entropy, 2017, 19(7), 291.
[7] Liguori, A., Formato, A., Cattani, P., Villecco, F., Sizing the actuators for a dragon fly prototype, Journal of Applied and Computational Mechanics, 2023.
[8] Pappalardo, C.M., Guida, D., Dynamic analysis and control design of kinematically-driven multibody mechanical systems., Engineering Letters, 2020, 28(4).
[9] De Simone, M.C., Veneziano, S., Guida, D., Design of a non-back-drivable screw jack mechanism for the hitch lifting arms of electric-powered tractors, Actuators, vol. 11, Multidisciplinary Digital Publishing Institute, 358.
[10] Cammarata, A., Sinatra, R., Maddio, P., A two-step algorithm for the dynamic reduction of flexible mechanisms, Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics, Springer, 25–32.
[11] Huang, Z., Xi, F., Huang, T., Dai, J.S., Sinatra, R., Lower-mobility parallel robots: theory and applications, 2010.
[12] Pappalardo, C.M., Lok, S.I., Malgaca, L., Guida, D., Experimental modal analysis of a single-link flexible robotic manipulator with curved geometry using applied system identification methods, Mechanical Systems and Signal Processing, 2023, 200, 110629.
[13] Borase, R.P., Maghade, D., Sondkar, S., Pawar, S., A review of pid control, tuning methods and applications, International Journal of Dynamics and Control, 2021, 9(2), 818–827.
[14] Villecco, F., Pellegrino, A., Evaluation of uncertainties in the design process of complex mechanical systems, Entropy, 2017, 19(9), 475.
[15] Johnson, M.A., Moradi, M.H., PID control, Springer, 2005.
[16] De Simone, M.C., Rivera, Z., Guida, D., Finite element analysis on squeal-noise in railway applications, FME Transactions, 2018, 46(1), 93–100.
[17] Borisov, A., Bosov, A., Miller, G., Optimal stabilization of linear stochastic system with statistically uncertain piecewise constant drift, Mathematics, 2022, 10(2), 184.
[18] Quatrano, A., De, S., Rivera, Z., Guida, D., Development and implementation of a control system for a retrofitted cnc machine by using arduino, FME Transactions, 2017, 45(4), 565–571.
[19] Lee, C., Liu, X., Liu, Y., Zhang, L., Optimal control of a time-varying double-ended production queueing model, Stochastic Systems, 2021, 11(2), 140–173.
[20] Ditzler, G., Roveri, M., Alippi, C., Polikar, R., Learning in nonstationary environments: A survey, IEEE Computational Intelligence Magazine, 2015, 10(4), 12–25.
[21] Citarella, R., Armentani, E., Caputo, F., Naddeo, A., Fem and bem analysis of a human mandible with added temporomandibular joints, The Open Mechanical Engineering Journal, 2012, 6(1).
[22] Cappetti, N., Naddeo, A., Naddeo, F., Solitro, G., Finite elements/taguchi method based procedure for the identification of the geometrical parameters significantly affecting the biomechanical behavior of a lumbar disc, Computer methods in biomechanics and biomedical engineering, 2016, 19(12), 1278–1285.
[23] Tasora, A., Mangoni, D., Fusai, D., Multibody simulation of contacts between arbitrary meshes of cad quality: recent results, open problems and possible developments.
[24] Benatti, S., Tasora, A., Mangoni, D., Training a four legged robot via deep reinforcement learning and multibody simulation, Multibody Dynamics 2019: Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics, Springer, 391–398.
[25] Huston, R., Multibody dynamics—modeling and analysis methods, 1991.
[26] Orzechowski, G., Fraczek, J., Integration of the equations of motion of multibody systems using absolute nodal coordinate formulation, acta mechanica et automatica, 2012, 6(2), 75–83.
[27] Patel, M., Orzechowski, G., Tian, Q., Shabana, A.A., A new multibody system approach for tire modeling using ancf finite elements, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2016, 230(1), 69–84.
[28] Barbagallo, R., Sequenzia, G., Oliveri, S., Cammarata, A., Dynamics of a high-performance motorcycle by an advanced multibody/control cosimulation, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2016, 230(2), 207–221.
[29] Tanev, T., Cammarata, A., Marano, D., Sinatra, R., Elastostatic model of a new hybrid minimally-invasive-surgery robot, The 14th IFToMM World Congress, Taipei, Taiwan.
[30] Muscat, M., Cammarata, A., Maddio, P.D., Sinatra, R., Design and development of a towfish to monitor marine pollution, Euro-Mediterranean Journal for Environmental Integration, 2018, 3(1), 1–12.
[31] Cammarata, A., Sinatra, R., Maddìo, P.D., Static condensation method for the reduced dynamic modeling of mechanisms and structures, Archive of Applied Mechanics, 2019, 89, 2033–2051.
[32] Flores, P., Ambrósio, J., Claro, J.P., Lankarani, H.M., Kinematics and dynamics of multibody systems with imperfect joints: models and case studies, vol. 34, Springer Science & Business Media, 2008.
[33] Jain, A., Robot and multibody dynamics: analysis and algorithms, Springer Science & Business Media, 2010.
[34] Shi, M., Rong, B., Liang, J., Zhao, W., Pan, H., Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system, Nonlinear Dynamics, 2023, 111(2), 1139–1159.
[35] Li, Y., Yang, Y., Li, M., Liu, Y., Huang, Y., Dynamics analysis and wear prediction of rigid-flexible coupling deployable solar array system with clearance joints considering solid lubrication, Mechanical Systems and Signal Processing, 2022, 162, 108059.
[36] De Simone, M.C., Guida, D., Control design for an under-actuated uav model, FME Transactions, 2018, 46(4), 443–452.
[37] Ziegler, J.G., Nichols, N.B., et al., Optimum settings for automatic controllers, trans. ASME, 1942, 64(11).
[38] Senatore, A., Pisaturo, M., Sharifzadeh, M., Real time identification of automotive dry clutch frictional characteristics using trust region methods, Proceedings of the 23rd Conference of the Italian Association of Theoretical and Applied Mechanics, Salerno, Italy, 4–7.
[39] Sharifzadeh, M., Farnam, A., Senatore, A., Timpone, F., Akbari, A., Delay-dependent criteria for robust dynamic stability control of articulated vehicles, International Conference on Robotics in Alpe-Adria Danube Region, Springer, 424–432.
[40] Palomba, I., Richiedei, D., Trevisani, A., Kinematic state estimation for rigid-link multibody systems by means of nonlinear constraint equations, Multibody System Dynamics, 2017, 40(1), 1–22.
[41] Palomba, I., Richiedei, D., Trevisani, A., Two-stage approach to state and force estimation in rigid-link multibody systems, Multibody System Dynamics, 2017, 39(1), 115–134.
[42] Strano, S., Terzo, M., Accurate state estimation for a hydraulic actuator via a sdre nonlinear filter, Mechanical Systems and Signal Processing, 2016, 75, 576–588.
[43] Strano, S., Terzo, M., A sdre-based tracking control for a hydraulic actuation system, Mechanical Systems and Signal Processing, 2015, 60, 715–726.
[44] Strano, S., Terzo, M., Actuator dynamics compensation for real-time hybrid simulation: an adaptive approach by means of a nonlinear estimator, Nonlinear Dynamics, 2016, 85(4), 2353–2368.
[45] Russo, R., Strano, S., Terzo, M., Enhancement of vehicle dynamics via an innovative magnetorheological fluid limited slip differential, Mechanical Systems and Signal Processing, 2016, 70, 1193–1208.
[46] Fister, D., Fister Jr, I., Fister, I., Safaric, R., Parameter tuning of pid controller with reactive nature-inspired algorithms, Robotics and Autonomous Systems, 2016, 84, 64–75.
[47] Zhai, R., Xiao, P., Zhang, R., Ju, J., In-wheel motor control system used by four-wheel drive electric vehicle based on whale optimization algorithmproportional-integral–derivative control, Advances in Mechanical Engineering, 2022, 14(6), 16878132221104574.
[48] Pappalardo, C.M., Guida, D., Control of nonlinear vibrations using the adjoint method, Meccanica, 2017, 52, 2503–2526.
[49] Pappalardo, C.M., Guida, D., Adjoint-based optimization procedure for active vibration control of nonlinear mechanical systems, Journal of Dynamic Systems, Measurement, and Control, 2017, 139(8).
[50] Momin, G.G., Hatti, R., Dalvi, K., Bargi, F., Devare, R., Design, manufacturing & analysis of hydraulic scissor lift, International Journal of Engineering Research and General Science, 2015, 3(2), 733–740.
[51] Ismael, O.Y., Almaged, M., Mahmood, A., et al., Quantitative design analysis of an electric scissor lift, American Academic Scientific Research Journal for Engineering, Technology, and Sciences, 2019, 59(1), 128–141.
[52] Hongyu, T., Ziyi, Z., Design and simulation based on pro/e for a hydraulic lift platform in scissors type, Procedia Engineering, 2011, 16, 772–781.
[53] Akgün, Y., Gantes, C.J., Sobek, W., Korkmaz, K., Kalochairetis, K., A novel adaptive spatial scissor-hinge structural mechanism for convertible roofs, Engineering Structures, 2011, 33(4), 1365–1376.
[54] Liu, T., Sun, J., Simulative calculation and optimal design of scissor lifting mechanism, 2009 Chinese Control and Decision Conference, IEEE, 2079–2082.
[55] Olenin, G., Design of hydraulic scissors lifting platform, 2016.
[56] Li, B., Wang, S.M., Yuan, R., Xue, X.Z., Zhi, C.J., Dynamic characteristics of planar linear array deployable structure based on scissor-like element with joint clearance using a new mixed contact force model, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2016, 230(18), 3161–3174.
[57] Spengler, D.M., Bigos, S.J., Martin, N.A., Zeh, J., Fisher, L., Nachemson, A., Back injuries in industry: A retrospective study: I. overview and cost analysis, Spine, 1986, 11(3), 241–245.
[58] Marras, W.S., Lavender, S.A., Leurgans, S.E., Rajulu, S.L., Allread, S.W.G., Fathallah, F.A., Ferguson, S.A., The role of dynamic three-dimensional trunk motion in occupationally-related, Spine, 1993, 18(5), 617–628.
[59] Chaffin, D.B., Manual materials handling and the biomechanical basis for prevention of low-back pain in industry—an overview, American Industrial Hygiene Association Journal, 1987, 48(12), 989–996.
[60] Naddeo, A., Cappetti, N., Califano, R., Vallone, M., Manual assembly workstation redesign based on a new quantitative method for postural comfort evaluation, Applied Mechanics and Mechanical Engineering IV, vol. 459 of Applied Mechanics and Materials, Trans Tech Publications Ltd, 368–379.
[61] Naddeo, A., Califano, R., Vallone, M., Cicalese, A., Coccaro, C., Marcone, F., Shullazi, E., The effect of spine discomfort on the overall postural (dis)comfort, Applied Ergonomics, 2019, 74, 194 – 205.
[62] Naddeo, A., Apicella, M., Galluzzi, D., Comfort-driven design of car interiors: A method to trace iso-comfort surfaces for p ositioning the dashboard commands, SAE Technical Papers, 2015.
[63] Shrivastava, N., Pande, A., Lele, J., Kampassi, K., Embedded control system for self adjusting scissor lift, 2018 Fourth International Conference on Computing Communication Control and Automation (ICCUBEA), IEEE, 1–5.
[64] Trapanese, S., Naddeo, A., Cappetti, N., A preventive evaluation of perceived postural comfort in car-cockpit design: Differences between the
postural approach and the accurate muscular simulation under different load conditions in the case of steering-wheel usage, SAE Technical Papers, 2016.
[65] Naddeo, A., Califano, R., Vink, P., The effect of posture, pressure and load distribution on (dis)comfort perceived by students seated on school chairs, International Journal on Interactive Design and Manufacturing, 2018, 12(4), 1179 – 1188.
[66] Mohan, S., Zech, W.C., Characteristics of worker accidents on nysdot construction projects, Journal of Safety Research, 2005, 36(4), 353–360.
[67] Ramsey, T., Davis, K.G., Kotowski, S.E., Anderson, V.P., Waters, T., Reduction of spinal loads through adjustable interventions at the origin and destination of palletizing tasks, Human factors, 2014, 56(7), 1222–1234.
[68] Udwadia, F.E., Kalaba, R.E., Analytical dynamics, 1996.
[69] Juang, J.N., Phan, M.Q., Identification and control of mechanical systems, Cambridge University Press, 2001.
[70] Rani, D., Agarwal, N., Tirth, V., Design and fabrication of hydraulic scissor lift, MIT International Journal of Mechanical Engineering, 2015, 5(2), 81–87.
[71] Stuart-Buttle, C., A case study of factors influencing the effectiveness of scissor lifts for box palletizing, American Industrial Hygiene Association Journal, 1995, 56(11), 1127–1132.
[72] Pope, M.H., Goh, K.L., Magnusson, M.L., et al., Spine ergonomics, Annual review of biomedical engineering, 2002, 4(1), 49–68.
[73] Pappalardo, C.M., Del Giudice, M., Oliva, E.B., Stieven, L., Naddeo, A., Computer-aided design, multibody dynamic modeling, and motion control analysis of a quadcopter system for delivery applications, Machines, 2023, 11(4), 464.
[74] Cammarata, A., Pappalardo, C.M., On the use of component mode synthesis methods for the model reduction of flexible multibody systems within the floating frame of reference formulation, Mechanical Systems and Signal Processing, 2020, 142, 106745.
[75] Ulin, S.S., Armstrong, T.J., Radwin, R.G., Use of computer aided drafting for analysis and control of posture in manual work, Applied Ergonomics, 1990, 21(2), 143–151.
[76] Flores, P., Concepts and formulations for spatial multibody dynamics, Springer, 2015.
[77] Pappalardo, C.M., Vece, A., Galdi, D., Guida, D., Developing a reciprocating mechanism for the emergency implementation of a mechanical pulmonary ventilator using an integrated cad-mbd procedure, FME Transactions, 2022, 50(2), 238–247.
[78] De Simone, M.C., Rivera, Z., Guida, D., A new semi-active suspension system for racing vehicles, FME Transactions, 2017, 45(4), 578–584.
[79] De Simone, M.C., Guida, D., Identification and control of a unmanned ground vehicle by using arduino, UPB Sci. Bull. Ser. D, 2018, 80, 141–154.
[80] Visioli, A., Practical PID control, Springer Science & Business Media, 2006.
[81] Pappalardo, C.M., A natural absolute coordinate formulation for the kinematic and dynamic analysis of rigid multibody systems, Nonlinear Dynamics, 2015, 81, 1841–1869.
[82] Nikravesh, P.E., Planar multibody dynamics: formulation, programming with MATLAB®, and applications, CRC press, 2018.
[83] De Jalon, J.G., Bayo, E., Kinematic and dynamic simulation of multibody systems: the real-time challenge, Springer Science & Business Media, 2012.
[84] Pappalardo, C.M., La Regina, R., Guida, D., Multibody modeling and nonlinear control of a pantograph scissor lift mechanism, Journal of Applied and Computational Mechanics, 2023, 9(1), 129–167.
[85] Yu, X., Zwölfer, A., Mikkola, A., An efficient, floating-frame-of-reference-based recursive formulation to model planar flexible multibody applications, Journal of Sound and Vibration, 2023, 547, 117542.
[86] Gaull, A., A rigorous proof for the equivalence of the projective newton–euler equations and the lagrange equations of second kind for spatial rigid multibody systems, Multibody System Dynamics, 2019, 45(1), 87–103.
[87] Lynch, K.M., Park, F.C., Modern robotics, Cambridge University Press, 2017.
[88] Wehage, K.T., Wehage, R.A., Ravani, B., Generalized coordinate partitioning for complex mechanisms based on kinematic substructuring, Mechanism and Machine Theory, 2015, 92, 464–483.
[89] Bauchau, O.A., Laulusa, A., Review of contemporary approaches for constraint enforcement in multibody systems, Journal of Computational and Nonlinear Dynamics, 2008, 3(1).
[90] Eich-Soellner, E., Führer, C., Numerical methods in multibody dynamics, vol. 45, Springer, 1998.
[91] Shabana, A.A., Dynamics of multibody systems, Cambridge university press, 2020.
[92] Haug, E.J., Multibody dynamics on differentiable manifolds, Journal of Computational and Nonlinear Dynamics, 2021, 16(4), 041003.
[93] Laulusa, A., Bauchau, O.A., Review of classical approaches for constraint enforcement in multibody systems, 2008.
[94] Shabana, A.A., Computational dynamics, John Wiley & Sons, 2009.
[95] Zhao, X.M., Chen, Y.H., Zhao, H., Dong, F.F., Udwadia–kalaba equation for constrained mechanical systems: formulation and applications, Chinese Journal of Mechanical Engineering, 2018, 31(1), 1–14.
[96] Enferadi, J., Jafari, K., A kane’s based algorithm for closed-form dynamic analysis of a new design of a 3rss-s spherical parallel manipulator, Multibody System Dynamics, 2020, 49, 377–394.
[97] Flannery, M.R., D’alembert–lagrange analytical dynamics for nonholonomic systems, Journal of Mathematical physics, 2011, 52(3).
[98] Mariti, L., Belfiore, N.P., Pennestrì, E., Valentini, P.P., Comparison of solution strategies for multibody dynamics equations, International Journal for Numerical Methods in Engineering, 2011, 88(7), 637–656.
[99] Cheli, F., Diana, G., Advanced dynamics of mechanical systems, vol. 2020, Springer, 2015.
[100] King, M., Process control: a practical approach, John Wiley & Sons, 2016.
[101] Almaged, M., Khather, S.I., Abdulla, A.I., Design of a discrete pid controller based on identification data for a simscape buck boost converter model, International Journal of Power Electronics and Drive Systems, 2019, 10(4), 1797.
[102] Patel, V.V., Ziegler-nichols tuning method: Understanding the pid controller, Resonance, 2020, 25(10), 1385–1397.
[103] Åström, K.J., Hägglund, T., Revisiting the ziegler–nichols step response method for pid control, Journal of process control, 2004, 14(6), 635–650.
[104] Mishchenko, E., Mishchenko, V., Exploring the cad model of the manipulator using cad translation and simscape multibody, E3S Web of Conferences, vol. 279, EDP Sciences, 03014.
[105] Alexandrov, A.G., Palenov, M.V., Adaptive pid controllers: State of the art and development prospects, Automation and remote control, 2014, 75(2), 188–199.
[2] Wang, K., Tian, Q., A nonsmooth method for spatial frictional contact dynamics of flexible multibody systems with large deformation, International Journal for Numerical Methods in Engineering, 2023, 124(3), 752–779.
[3] Shabana, A.A., Integration of computer-aided design and analysis: application to multibody vehicle systems, International Journal of Vehicle Performance, 2019, 5(3), 300–327.
[4] Bettega, J., Boschetti, G., Frade, B.R., González, F., Piva, G., Richiedei, D., Trevisani, A., Numerical and experimental investigation on the synthesis of extended kalman filters for cable-driven parallel robots modeled through daes, Multibody System Dynamics, 2023, 1–30.
[5] Cammarata, A., Lacagnina, M., Sinatra, R., Closed-form solutions for the inverse kinematics of the agile eye with constraint errors on the revolute joint axes, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 317–322.
[6] Villecco, F., Pellegrino, A., Entropic measure of epistemic uncertainties in multibody system models by axiomatic design, Entropy, 2017, 19(7), 291.
[7] Liguori, A., Formato, A., Cattani, P., Villecco, F., Sizing the actuators for a dragon fly prototype, Journal of Applied and Computational Mechanics, 2023.
[8] Pappalardo, C.M., Guida, D., Dynamic analysis and control design of kinematically-driven multibody mechanical systems., Engineering Letters, 2020, 28(4).
[9] De Simone, M.C., Veneziano, S., Guida, D., Design of a non-back-drivable screw jack mechanism for the hitch lifting arms of electric-powered tractors, Actuators, vol. 11, Multidisciplinary Digital Publishing Institute, 358.
[10] Cammarata, A., Sinatra, R., Maddio, P., A two-step algorithm for the dynamic reduction of flexible mechanisms, Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics, Springer, 25–32.
[11] Huang, Z., Xi, F., Huang, T., Dai, J.S., Sinatra, R., Lower-mobility parallel robots: theory and applications, 2010.
[12] Pappalardo, C.M., Lok, S.I., Malgaca, L., Guida, D., Experimental modal analysis of a single-link flexible robotic manipulator with curved geometry using applied system identification methods, Mechanical Systems and Signal Processing, 2023, 200, 110629.
[13] Borase, R.P., Maghade, D., Sondkar, S., Pawar, S., A review of pid control, tuning methods and applications, International Journal of Dynamics and Control, 2021, 9(2), 818–827.
[14] Villecco, F., Pellegrino, A., Evaluation of uncertainties in the design process of complex mechanical systems, Entropy, 2017, 19(9), 475.
[15] Johnson, M.A., Moradi, M.H., PID control, Springer, 2005.
[16] De Simone, M.C., Rivera, Z., Guida, D., Finite element analysis on squeal-noise in railway applications, FME Transactions, 2018, 46(1), 93–100.
[17] Borisov, A., Bosov, A., Miller, G., Optimal stabilization of linear stochastic system with statistically uncertain piecewise constant drift, Mathematics, 2022, 10(2), 184.
[18] Quatrano, A., De, S., Rivera, Z., Guida, D., Development and implementation of a control system for a retrofitted cnc machine by using arduino, FME Transactions, 2017, 45(4), 565–571.
[19] Lee, C., Liu, X., Liu, Y., Zhang, L., Optimal control of a time-varying double-ended production queueing model, Stochastic Systems, 2021, 11(2), 140–173.
[20] Ditzler, G., Roveri, M., Alippi, C., Polikar, R., Learning in nonstationary environments: A survey, IEEE Computational Intelligence Magazine, 2015, 10(4), 12–25.
[21] Citarella, R., Armentani, E., Caputo, F., Naddeo, A., Fem and bem analysis of a human mandible with added temporomandibular joints, The Open Mechanical Engineering Journal, 2012, 6(1).
[22] Cappetti, N., Naddeo, A., Naddeo, F., Solitro, G., Finite elements/taguchi method based procedure for the identification of the geometrical parameters significantly affecting the biomechanical behavior of a lumbar disc, Computer methods in biomechanics and biomedical engineering, 2016, 19(12), 1278–1285.
[23] Tasora, A., Mangoni, D., Fusai, D., Multibody simulation of contacts between arbitrary meshes of cad quality: recent results, open problems and possible developments.
[24] Benatti, S., Tasora, A., Mangoni, D., Training a four legged robot via deep reinforcement learning and multibody simulation, Multibody Dynamics 2019: Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics, Springer, 391–398.
[25] Huston, R., Multibody dynamics—modeling and analysis methods, 1991.
[26] Orzechowski, G., Fraczek, J., Integration of the equations of motion of multibody systems using absolute nodal coordinate formulation, acta mechanica et automatica, 2012, 6(2), 75–83.
[27] Patel, M., Orzechowski, G., Tian, Q., Shabana, A.A., A new multibody system approach for tire modeling using ancf finite elements, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2016, 230(1), 69–84.
[28] Barbagallo, R., Sequenzia, G., Oliveri, S., Cammarata, A., Dynamics of a high-performance motorcycle by an advanced multibody/control cosimulation, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2016, 230(2), 207–221.
[29] Tanev, T., Cammarata, A., Marano, D., Sinatra, R., Elastostatic model of a new hybrid minimally-invasive-surgery robot, The 14th IFToMM World Congress, Taipei, Taiwan.
[30] Muscat, M., Cammarata, A., Maddio, P.D., Sinatra, R., Design and development of a towfish to monitor marine pollution, Euro-Mediterranean Journal for Environmental Integration, 2018, 3(1), 1–12.
[31] Cammarata, A., Sinatra, R., Maddìo, P.D., Static condensation method for the reduced dynamic modeling of mechanisms and structures, Archive of Applied Mechanics, 2019, 89, 2033–2051.
[32] Flores, P., Ambrósio, J., Claro, J.P., Lankarani, H.M., Kinematics and dynamics of multibody systems with imperfect joints: models and case studies, vol. 34, Springer Science & Business Media, 2008.
[33] Jain, A., Robot and multibody dynamics: analysis and algorithms, Springer Science & Business Media, 2010.
[34] Shi, M., Rong, B., Liang, J., Zhao, W., Pan, H., Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system, Nonlinear Dynamics, 2023, 111(2), 1139–1159.
[35] Li, Y., Yang, Y., Li, M., Liu, Y., Huang, Y., Dynamics analysis and wear prediction of rigid-flexible coupling deployable solar array system with clearance joints considering solid lubrication, Mechanical Systems and Signal Processing, 2022, 162, 108059.
[36] De Simone, M.C., Guida, D., Control design for an under-actuated uav model, FME Transactions, 2018, 46(4), 443–452.
[37] Ziegler, J.G., Nichols, N.B., et al., Optimum settings for automatic controllers, trans. ASME, 1942, 64(11).
[38] Senatore, A., Pisaturo, M., Sharifzadeh, M., Real time identification of automotive dry clutch frictional characteristics using trust region methods, Proceedings of the 23rd Conference of the Italian Association of Theoretical and Applied Mechanics, Salerno, Italy, 4–7.
[39] Sharifzadeh, M., Farnam, A., Senatore, A., Timpone, F., Akbari, A., Delay-dependent criteria for robust dynamic stability control of articulated vehicles, International Conference on Robotics in Alpe-Adria Danube Region, Springer, 424–432.
[40] Palomba, I., Richiedei, D., Trevisani, A., Kinematic state estimation for rigid-link multibody systems by means of nonlinear constraint equations, Multibody System Dynamics, 2017, 40(1), 1–22.
[41] Palomba, I., Richiedei, D., Trevisani, A., Two-stage approach to state and force estimation in rigid-link multibody systems, Multibody System Dynamics, 2017, 39(1), 115–134.
[42] Strano, S., Terzo, M., Accurate state estimation for a hydraulic actuator via a sdre nonlinear filter, Mechanical Systems and Signal Processing, 2016, 75, 576–588.
[43] Strano, S., Terzo, M., A sdre-based tracking control for a hydraulic actuation system, Mechanical Systems and Signal Processing, 2015, 60, 715–726.
[44] Strano, S., Terzo, M., Actuator dynamics compensation for real-time hybrid simulation: an adaptive approach by means of a nonlinear estimator, Nonlinear Dynamics, 2016, 85(4), 2353–2368.
[45] Russo, R., Strano, S., Terzo, M., Enhancement of vehicle dynamics via an innovative magnetorheological fluid limited slip differential, Mechanical Systems and Signal Processing, 2016, 70, 1193–1208.
[46] Fister, D., Fister Jr, I., Fister, I., Safaric, R., Parameter tuning of pid controller with reactive nature-inspired algorithms, Robotics and Autonomous Systems, 2016, 84, 64–75.
[47] Zhai, R., Xiao, P., Zhang, R., Ju, J., In-wheel motor control system used by four-wheel drive electric vehicle based on whale optimization algorithmproportional-integral–derivative control, Advances in Mechanical Engineering, 2022, 14(6), 16878132221104574.
[48] Pappalardo, C.M., Guida, D., Control of nonlinear vibrations using the adjoint method, Meccanica, 2017, 52, 2503–2526.
[49] Pappalardo, C.M., Guida, D., Adjoint-based optimization procedure for active vibration control of nonlinear mechanical systems, Journal of Dynamic Systems, Measurement, and Control, 2017, 139(8).
[50] Momin, G.G., Hatti, R., Dalvi, K., Bargi, F., Devare, R., Design, manufacturing & analysis of hydraulic scissor lift, International Journal of Engineering Research and General Science, 2015, 3(2), 733–740.
[51] Ismael, O.Y., Almaged, M., Mahmood, A., et al., Quantitative design analysis of an electric scissor lift, American Academic Scientific Research Journal for Engineering, Technology, and Sciences, 2019, 59(1), 128–141.
[52] Hongyu, T., Ziyi, Z., Design and simulation based on pro/e for a hydraulic lift platform in scissors type, Procedia Engineering, 2011, 16, 772–781.
[53] Akgün, Y., Gantes, C.J., Sobek, W., Korkmaz, K., Kalochairetis, K., A novel adaptive spatial scissor-hinge structural mechanism for convertible roofs, Engineering Structures, 2011, 33(4), 1365–1376.
[54] Liu, T., Sun, J., Simulative calculation and optimal design of scissor lifting mechanism, 2009 Chinese Control and Decision Conference, IEEE, 2079–2082.
[55] Olenin, G., Design of hydraulic scissors lifting platform, 2016.
[56] Li, B., Wang, S.M., Yuan, R., Xue, X.Z., Zhi, C.J., Dynamic characteristics of planar linear array deployable structure based on scissor-like element with joint clearance using a new mixed contact force model, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2016, 230(18), 3161–3174.
[57] Spengler, D.M., Bigos, S.J., Martin, N.A., Zeh, J., Fisher, L., Nachemson, A., Back injuries in industry: A retrospective study: I. overview and cost analysis, Spine, 1986, 11(3), 241–245.
[58] Marras, W.S., Lavender, S.A., Leurgans, S.E., Rajulu, S.L., Allread, S.W.G., Fathallah, F.A., Ferguson, S.A., The role of dynamic three-dimensional trunk motion in occupationally-related, Spine, 1993, 18(5), 617–628.
[59] Chaffin, D.B., Manual materials handling and the biomechanical basis for prevention of low-back pain in industry—an overview, American Industrial Hygiene Association Journal, 1987, 48(12), 989–996.
[60] Naddeo, A., Cappetti, N., Califano, R., Vallone, M., Manual assembly workstation redesign based on a new quantitative method for postural comfort evaluation, Applied Mechanics and Mechanical Engineering IV, vol. 459 of Applied Mechanics and Materials, Trans Tech Publications Ltd, 368–379.
[61] Naddeo, A., Califano, R., Vallone, M., Cicalese, A., Coccaro, C., Marcone, F., Shullazi, E., The effect of spine discomfort on the overall postural (dis)comfort, Applied Ergonomics, 2019, 74, 194 – 205.
[62] Naddeo, A., Apicella, M., Galluzzi, D., Comfort-driven design of car interiors: A method to trace iso-comfort surfaces for p ositioning the dashboard commands, SAE Technical Papers, 2015.
[63] Shrivastava, N., Pande, A., Lele, J., Kampassi, K., Embedded control system for self adjusting scissor lift, 2018 Fourth International Conference on Computing Communication Control and Automation (ICCUBEA), IEEE, 1–5.
[64] Trapanese, S., Naddeo, A., Cappetti, N., A preventive evaluation of perceived postural comfort in car-cockpit design: Differences between the
postural approach and the accurate muscular simulation under different load conditions in the case of steering-wheel usage, SAE Technical Papers, 2016.
[65] Naddeo, A., Califano, R., Vink, P., The effect of posture, pressure and load distribution on (dis)comfort perceived by students seated on school chairs, International Journal on Interactive Design and Manufacturing, 2018, 12(4), 1179 – 1188.
[66] Mohan, S., Zech, W.C., Characteristics of worker accidents on nysdot construction projects, Journal of Safety Research, 2005, 36(4), 353–360.
[67] Ramsey, T., Davis, K.G., Kotowski, S.E., Anderson, V.P., Waters, T., Reduction of spinal loads through adjustable interventions at the origin and destination of palletizing tasks, Human factors, 2014, 56(7), 1222–1234.
[68] Udwadia, F.E., Kalaba, R.E., Analytical dynamics, 1996.
[69] Juang, J.N., Phan, M.Q., Identification and control of mechanical systems, Cambridge University Press, 2001.
[70] Rani, D., Agarwal, N., Tirth, V., Design and fabrication of hydraulic scissor lift, MIT International Journal of Mechanical Engineering, 2015, 5(2), 81–87.
[71] Stuart-Buttle, C., A case study of factors influencing the effectiveness of scissor lifts for box palletizing, American Industrial Hygiene Association Journal, 1995, 56(11), 1127–1132.
[72] Pope, M.H., Goh, K.L., Magnusson, M.L., et al., Spine ergonomics, Annual review of biomedical engineering, 2002, 4(1), 49–68.
[73] Pappalardo, C.M., Del Giudice, M., Oliva, E.B., Stieven, L., Naddeo, A., Computer-aided design, multibody dynamic modeling, and motion control analysis of a quadcopter system for delivery applications, Machines, 2023, 11(4), 464.
[74] Cammarata, A., Pappalardo, C.M., On the use of component mode synthesis methods for the model reduction of flexible multibody systems within the floating frame of reference formulation, Mechanical Systems and Signal Processing, 2020, 142, 106745.
[75] Ulin, S.S., Armstrong, T.J., Radwin, R.G., Use of computer aided drafting for analysis and control of posture in manual work, Applied Ergonomics, 1990, 21(2), 143–151.
[76] Flores, P., Concepts and formulations for spatial multibody dynamics, Springer, 2015.
[77] Pappalardo, C.M., Vece, A., Galdi, D., Guida, D., Developing a reciprocating mechanism for the emergency implementation of a mechanical pulmonary ventilator using an integrated cad-mbd procedure, FME Transactions, 2022, 50(2), 238–247.
[78] De Simone, M.C., Rivera, Z., Guida, D., A new semi-active suspension system for racing vehicles, FME Transactions, 2017, 45(4), 578–584.
[79] De Simone, M.C., Guida, D., Identification and control of a unmanned ground vehicle by using arduino, UPB Sci. Bull. Ser. D, 2018, 80, 141–154.
[80] Visioli, A., Practical PID control, Springer Science & Business Media, 2006.
[81] Pappalardo, C.M., A natural absolute coordinate formulation for the kinematic and dynamic analysis of rigid multibody systems, Nonlinear Dynamics, 2015, 81, 1841–1869.
[82] Nikravesh, P.E., Planar multibody dynamics: formulation, programming with MATLAB®, and applications, CRC press, 2018.
[83] De Jalon, J.G., Bayo, E., Kinematic and dynamic simulation of multibody systems: the real-time challenge, Springer Science & Business Media, 2012.
[84] Pappalardo, C.M., La Regina, R., Guida, D., Multibody modeling and nonlinear control of a pantograph scissor lift mechanism, Journal of Applied and Computational Mechanics, 2023, 9(1), 129–167.
[85] Yu, X., Zwölfer, A., Mikkola, A., An efficient, floating-frame-of-reference-based recursive formulation to model planar flexible multibody applications, Journal of Sound and Vibration, 2023, 547, 117542.
[86] Gaull, A., A rigorous proof for the equivalence of the projective newton–euler equations and the lagrange equations of second kind for spatial rigid multibody systems, Multibody System Dynamics, 2019, 45(1), 87–103.
[87] Lynch, K.M., Park, F.C., Modern robotics, Cambridge University Press, 2017.
[88] Wehage, K.T., Wehage, R.A., Ravani, B., Generalized coordinate partitioning for complex mechanisms based on kinematic substructuring, Mechanism and Machine Theory, 2015, 92, 464–483.
[89] Bauchau, O.A., Laulusa, A., Review of contemporary approaches for constraint enforcement in multibody systems, Journal of Computational and Nonlinear Dynamics, 2008, 3(1).
[90] Eich-Soellner, E., Führer, C., Numerical methods in multibody dynamics, vol. 45, Springer, 1998.
[91] Shabana, A.A., Dynamics of multibody systems, Cambridge university press, 2020.
[92] Haug, E.J., Multibody dynamics on differentiable manifolds, Journal of Computational and Nonlinear Dynamics, 2021, 16(4), 041003.
[93] Laulusa, A., Bauchau, O.A., Review of classical approaches for constraint enforcement in multibody systems, 2008.
[94] Shabana, A.A., Computational dynamics, John Wiley & Sons, 2009.
[95] Zhao, X.M., Chen, Y.H., Zhao, H., Dong, F.F., Udwadia–kalaba equation for constrained mechanical systems: formulation and applications, Chinese Journal of Mechanical Engineering, 2018, 31(1), 1–14.
[96] Enferadi, J., Jafari, K., A kane’s based algorithm for closed-form dynamic analysis of a new design of a 3rss-s spherical parallel manipulator, Multibody System Dynamics, 2020, 49, 377–394.
[97] Flannery, M.R., D’alembert–lagrange analytical dynamics for nonholonomic systems, Journal of Mathematical physics, 2011, 52(3).
[98] Mariti, L., Belfiore, N.P., Pennestrì, E., Valentini, P.P., Comparison of solution strategies for multibody dynamics equations, International Journal for Numerical Methods in Engineering, 2011, 88(7), 637–656.
[99] Cheli, F., Diana, G., Advanced dynamics of mechanical systems, vol. 2020, Springer, 2015.
[100] King, M., Process control: a practical approach, John Wiley & Sons, 2016.
[101] Almaged, M., Khather, S.I., Abdulla, A.I., Design of a discrete pid controller based on identification data for a simscape buck boost converter model, International Journal of Power Electronics and Drive Systems, 2019, 10(4), 1797.
[102] Patel, V.V., Ziegler-nichols tuning method: Understanding the pid controller, Resonance, 2020, 25(10), 1385–1397.
[103] Åström, K.J., Hägglund, T., Revisiting the ziegler–nichols step response method for pid control, Journal of process control, 2004, 14(6), 635–650.
[104] Mishchenko, E., Mishchenko, V., Exploring the cad model of the manipulator using cad translation and simscape multibody, E3S Web of Conferences, vol. 279, EDP Sciences, 03014.
[105] Alexandrov, A.G., Palenov, M.V., Adaptive pid controllers: State of the art and development prospects, Automation and remote control, 2014, 75(2), 188–199.
)