Pierangelo Masarati

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—We study the detailed locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of closely packed 3 mm diameter glass particles at speeds up to 50 cm/s (5 body length/s), approaching the performance of small, high-performing, desert-dwelling lizards. To reveal how the robot achieves this high(More)
This paper discusses the opportunity, for the community of multi-body developers and users, of the availability of Open Source multibody analysis software implementations. The basic characteristics of such implementations are drawn, and a critical review of what is available is presented. 1 INTRODUCTION This paper discusses the opportunity for the multibody(More)
The paper describes an unusual C 0 beam discretization based on the nite volumes concept. In the linear case this approach leads to a collocated evaluation of the stiiness matrix of the beam and it proves to beintrinsically free from shear locking. In the non-linear formulation, only a collocated evaluation of the elastic forces is required, that(More)
The paper describes the aeroelastic analysis of a tiltrotor conaeguration. The 1è5 scale wind tunnel semispan model of the V-22 tiltrotor aircraft is considered. The analysis is performed by means of a multi-body code, based on an original formulation. The diaeerential equilibrium problem is stated in terms of aerst order diaeerential equations. The(More)
We study the locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of 3 mm diameter glass particles at speeds up to 5 body length/s, approaching the performance of certain desert-dwelling animals. To reveal how the robot achieves this performance, we used high-speed imaging to capture its(More)
This work is focused on the implementation of a general multibody analysis framework for the real-time simulation of complex systems. It is applied to the modeling of the Semi-Articulated Soft-InPlane (SASIP) rotor recently installed and tested on the Wing and Rotor Aeroelastic Testing System (WRATS) at NASA Langley. The aim is to obtain a detailed, yet(More)
This paper presents an application to robotics modeling of the multibody free software MBDyn in its real-time variant. Real-time simulation of robots is usually carried on using dedicated software because of the stringent requirements in terms of solution time for each time step. The real-time variant of the general-purpose multibody simulation software(More)
The problem of building a methodology to couple fluid and structure is addressed in this paper. If the goal of the fluid-structure simulation is the stability assessment , an important issue to be addressed is the conservation of the momentum and energy exchanged between the participating domains. In realistic aerospace applications, the fluid and(More)
The paper presents a procedure and the integrated tools for the aeroelastic analysis of an Active Twist helicopter Rotor ATR. The active twisting of rotor blades is carried out by induced-strain actuators distributed into the structure of the blade. Active bre composites AFC, made of piezoelectric bres actuated by i n terdigitated electrodes IDE, are used(More)