Dynamics of Redundant Multibody Systems
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Elbert L. Marsh', 'PO_EMAI': None, 'PO_PHON': None}
This research studies the dynamics of redundant multibody systems               which have superfluous degrees of freedom.  It represents a                     significant step forward in the development of sophisticated                    models for the study of a wide variety of physical systems such                 as robots, manipulators, chains, space structures and biosystems.               The principal research questions addressed are:  What is the                    optimum motion of the system to minimize energy expenditure; What               configuration will minimize the internal forces and movements                   and; What movement will accomplish a given task in the least time               for constant energy expenditure.
{'FirstName': 'Ronald', 'LastName': 'Huston', 'PI_MID_INIT': 'L', 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Ronald L Huston', 'EmailAddress': 'ron.huston@uc.edu', 'NSF_ID': '000215015', 'StartDate': '01/01/1987', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'University of Cincinnati Main Campus', 'CityName': 'CINCINNATI', 'ZipCode': '452202872', 'PhoneNumber': '5135564358', 'StreetAddress': '2600 CLIFTON AVE', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Ohio', 'StateCode': 'OH', 'CONGRESSDISTRICT': '01', 'CONGRESS_DISTRICT_ORG': 'OH01', 'ORG_UEI_NUM': 'DZ4YCZ3QSPR5', 'ORG_LGL_BUS_NAME': 'CINCINNATI UNIV OF', 'ORG_PRNT_UEI_NUM': 'DZ4YCZ3QSPR5'}
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[{'Code': '144500', 'Text': 'DYNAMICS & CONTROL'}, {'Code': '912000', 'Text': 'CROSS-DIRECTORATE PROGRAMS'}]
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1986&All=true', 'xml': '8612970.xml'}