In this paper, we introduce a novel concept for parametric studies in multibody dynamics. This is based on a technique that makes it possible to perform a natural normalization of the dynamics in terms of inertial parameters. This normalization technique rises out from the underlying physical structure of the system, which is mathematically expressed in the form of eigenvalue problems. It leads to the introduction of the concept of dimensionless inertial parameters. This, in turn, makes the decomposition of the array of parameters possible for studying design and control problems where parameter estimation and sensitivity is of importance.
m-PaRoLa: a Mobile Virtual Laboratory for Studying the Kinematics of Five-bar and 3RRR Planar Parallel Robots ⁎ ⁎Work supported by the Spanish Ministries of Education (grant No. FPU13/00413) and Economy (project No. DPI 2016-78361-R).
