{"id":"https://openalex.org/W7225317161","doi":"https://doi.org/10.1038/s41598-026-73714-1","title":"Application of the rigid finite element method to modeling multibody systems with redundant constraints","display_name":"Application of the rigid finite element method to modeling multibody systems with redundant constraints","publication_year":2026,"publication_date":"2026-11-05","ids":{"openalex":"https://openalex.org/W7225317161","doi":"https://doi.org/10.1038/s41598-026-73714-1"},"language":"en","primary_location":{"id":"doi:10.1038/s41598-026-73714-1","doi":"https://doi.org/10.1038/s41598-026-73714-1","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s41598-026-73714-1","pdf_url":"https://www.nature.com/articles/s41598-026-73714-1_reference.pdf","source":{"id":"https://openalex.org/S196734849","display_name":"Scientific Reports","issn_l":"2045-2322","issn":["2045-2322"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","jufo-1","ki-jl-1","medline","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Scientific Reports","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.nature.com/articles/s41598-026-73714-1_reference.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039865099","display_name":"Ta\u0144ski Maciej","orcid":"https://orcid.org/0009-0002-8653-4523","observed_orcids":["https://orcid.org/0009-0002-8653-4523"]},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Maciej Ta\u0144ski","raw_affiliation_strings":["Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, 00-665, Warsaw, Poland"],"raw_orcid":"https://orcid.org/0009-0002-8653-4523","affiliations":[{"raw_affiliation_string":"Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, 00-665, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034952940","display_name":"Marek Wojtyra","orcid":"https://orcid.org/0000-0001-7225-7647","observed_orcids":["https://orcid.org/0000-0001-7225-7647"]},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Marek Wojtyra","raw_affiliation_strings":["Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, 00-665, Warsaw, Poland"],"raw_orcid":"https://orcid.org/0000-0001-7225-7647","affiliations":[{"raw_affiliation_string":"Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, 00-665, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5034952940"],"corresponding_institution_ids":["https://openalex.org/I108403487"],"apc_list":{"value":2690,"currency":"USD","value_usd":2690},"apc_paid":{"value":2690,"currency":"USD","value_usd":2690},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9829000234603882,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9829000234603882,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.016300000250339508,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13451","display_name":"Mechanical Engineering Research and Applications","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rigid-finite-element-method","display_name":"rigid finite element method","score":0.9769999980926514},{"id":"https://openalex.org/keywords/multibody-systems","display_name":"multibody systems","score":0.8870000243186951},{"id":"https://openalex.org/keywords/redundant-constraints","display_name":"redundant constraints","score":0.9879999756813049},{"id":"https://openalex.org/keywords/reaction-forces","display_name":"reaction forces","score":0.6650000214576721},{"id":"https://openalex.org/keywords/spring-damper-elements","display_name":"spring-damper elements","score":0.9779999852180481},{"id":"https://openalex.org/keywords/overconstrained-mechanisms","display_name":"overconstrained mechanisms","score":0.8479999899864197},{"id":"https://openalex.org/keywords/parallel-manipulators","display_name":"parallel manipulators","score":0.8339999914169312},{"id":"https://openalex.org/keywords/shear-coefficient","display_name":"shear coefficient","score":0.7160000205039978},{"id":"https://openalex.org/keywords/computational-efficiency","display_name":"computational efficiency","score":0.753000020980835},{"id":"https://openalex.org/keywords/mechanism-dynamics","display_name":"mechanism dynamics","score":0.4320000112056732}],"concepts":[{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.8240000009536743},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6355999708175659},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5781000256538391},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5766000151634216},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.5638999938964844},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5460000038146973},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5120000243186951},{"id":"https://openalex.org/C53118041","wikidata":"https://www.wikidata.org/wiki/Q45867","display_name":"Parallelogram","level":3,"score":0.5059000253677368},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4864000082015991},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.40529999136924744},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.3939000070095062},{"id":"https://openalex.org/C177605945","wikidata":"https://www.wikidata.org/wiki/Q11007230","display_name":"Smoothed finite element method","level":5,"score":0.3677999973297119},{"id":"https://openalex.org/C144468803","wikidata":"https://www.wikidata.org/wiki/Q16965966","display_name":"Mixed finite element method","level":3,"score":0.3082999885082245},{"id":"https://openalex.org/C24574437","wikidata":"https://www.wikidata.org/wiki/Q7135228","display_name":"Parametric model","level":3,"score":0.30390000343322754},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30329999327659607},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2874000072479248},{"id":"https://openalex.org/C24810621","wikidata":"https://www.wikidata.org/wiki/Q3333647","display_name":"Extended finite element method","level":3,"score":0.2840000092983246},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.2565000057220459}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1038/s41598-026-73714-1","doi":"https://doi.org/10.1038/s41598-026-73714-1","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s41598-026-73714-1","pdf_url":"https://www.nature.com/articles/s41598-026-73714-1_reference.pdf","source":{"id":"https://openalex.org/S196734849","display_name":"Scientific Reports","issn_l":"2045-2322","issn":["2045-2322"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","jufo-1","ki-jl-1","medline","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Scientific Reports","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1038/s41598-026-73714-1","doi":"https://doi.org/10.1038/s41598-026-73714-1","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s41598-026-73714-1","pdf_url":"https://www.nature.com/articles/s41598-026-73714-1_reference.pdf","source":{"id":"https://openalex.org/S196734849","display_name":"Scientific Reports","issn_l":"2045-2322","issn":["2045-2322"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","jufo-1","ki-jl-1","medline","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Scientific Reports","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322650","display_name":"Narodowym Centrum Nauki","ror":"https://ror.org/03ha2q922"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7225317161.pdf","grobid_xml":"https://content.openalex.org/works/W7225317161.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W87329092","https://openalex.org/W1969965646","https://openalex.org/W1973479199","https://openalex.org/W2033574847","https://openalex.org/W2051835844","https://openalex.org/W2061165302","https://openalex.org/W2080259739","https://openalex.org/W2092296837","https://openalex.org/W2109685551","https://openalex.org/W2150677420","https://openalex.org/W2157200839","https://openalex.org/W2733981455","https://openalex.org/W2734437026","https://openalex.org/W2773660709","https://openalex.org/W2903098742","https://openalex.org/W3107019525","https://openalex.org/W3112424457","https://openalex.org/W3195381666","https://openalex.org/W4206185395","https://openalex.org/W4206831983","https://openalex.org/W4240183479","https://openalex.org/W4362505811","https://openalex.org/W4390492956","https://openalex.org/W4402937909","https://openalex.org/W4406683309","https://openalex.org/W4408328098","https://openalex.org/W4408842857","https://openalex.org/W4410543228","https://openalex.org/W4411573238","https://openalex.org/W4416129411","https://openalex.org/W4416683622","https://openalex.org/W7128312934","https://openalex.org/W7128641067","https://openalex.org/W7163761084","https://openalex.org/W7164393134","https://openalex.org/W7165563135"],"related_works":["https://openalex.org/W3047233355","https://openalex.org/W2950556159","https://openalex.org/W569633549","https://openalex.org/W4234680764","https://openalex.org/W2470991016","https://openalex.org/W2006450599","https://openalex.org/W1969965646","https://openalex.org/W2375840286","https://openalex.org/W241921144","https://openalex.org/W2076065360"],"abstract_inverted_index":{"Abstract":[0],"The":[1,32,52,185,254],"research":[2],"aimed":[3],"to":[4,19,140,195,218],"investigate":[5],"the":[6,9,20,56,68,72,102,142,154,162,169,189,196,214,226,261],"applicability":[7],"of":[8,58,71,104,115,144,156,164,230,250,263],"Rigid":[10],"Finite":[11,22],"Element":[12,23],"Method":[13],"(Rigid-FEM),":[14],"which":[15],"is":[16,216,240],"an":[17,59],"alternative":[18],"classical":[21,47,244],"Method,":[24],"for":[25,273],"modeling":[26,146],"multibody":[27,49,246,276],"systems":[28],"with":[29,38,87,174],"redundant":[30],"constraints.":[31],"investigation":[33],"focused":[34],"on":[35,148,181],"resolving":[36],"problems":[37,43],"determining":[39,251],"reaction":[40,252],"forces.":[41,253],"Such":[42],"are":[44],"encountered":[45],"in":[46,208],"rigid":[48,75,79,245],"dynamics":[50,247],"formulations.":[51],"methods":[53],"used":[54],"include":[55],"development":[57],"underlying":[60],"theory,":[61],"diverse":[62],"simulations,":[63],"and":[64,91,107,128,150,161,205,220,242,269],"experimental":[65,175,258],"verification.":[66],"Specifically,":[67],"theoretical":[69],"foundation":[70],"Rigid-FEM":[73,127,191,215,264],"method\u2014discretizing":[74],"bodies":[76],"into":[77],"smaller":[78],"finite":[80],"elements":[81,85,204,229],"interconnected":[82],"by":[83,95],"spring-damper":[84],"(SDEs)":[86],"appropriately":[88],"defined":[89],"stiffness":[90],"damping":[92],"properties\u2014was":[93],"supplemented":[94],"proposed":[96],"methodological":[97],"modifications":[98],"that":[99,188],"significantly":[100,202],"reduce":[101],"number":[103],"required":[105],"SDEs":[106],"improve":[108],"computational":[109,151,211,271],"efficiency.":[110],"To":[111],"perform":[112],"a":[113,117,165,182,266],"variety":[114],"tests,":[116],"spatial":[118],"parallelogram":[119],"benchmark":[120],"mechanism":[121],"was":[122,138],"used.":[123],"Results":[124],"from":[125,178],"both":[126],"classic":[129],"FEM":[130,198],"models":[131],"were":[132,172],"analyzed.":[133],"A":[134],"comprehensive":[135],"parametric":[136],"study":[137],"conducted":[139,180],"assess":[141],"influence":[143],"selected":[145],"parameters":[147],"accuracy":[149,193],"efficiency,":[152],"including":[153],"placement":[155],"elastic":[157],"elements,":[158],"discretization":[159],"density,":[160],"introduction":[163],"shear":[166],"coefficient.":[167],"Ultimately,":[168],"simulation":[170],"results":[171,207],"compared":[173],"data":[176],"obtained":[177],"measurements":[179],"hardware":[183],"mechanism.":[184],"findings":[186],"demonstrate":[187],"modified":[190],"achieves":[192],"comparable":[194],"regular":[197],"model,":[199],"yet":[200],"requires":[201],"fewer":[203],"delivers":[206],"substantially":[209],"reduced":[210],"time.":[212],"Although":[213],"limited":[217],"plate-":[219],"beam-like":[221],"structures,":[222],"these":[223],"components":[224],"constitute":[225],"primary":[227],"structural":[228],"many":[231],"mechanisms,":[232],"such":[233],"as":[234,265],"parallel":[235],"robots,":[236],"where":[237],"constraint":[238],"redundancy":[239],"frequent":[241],"renders":[243],"formulations":[248],"incapable":[249],"results,":[255],"validated":[256],"against":[257],"data,":[259],"confirm":[260],"suitability":[262],"highly":[267],"efficient":[268],"accurate":[270],"tool":[272],"analyzing":[274],"overconstrained":[275],"systems.":[277]},"counts_by_year":[],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2026-11-06T00:00:00"}