Prof. Janusz Frączek

Scientific degree

D.Sc., Ph.D., Eng.; Professor

Position

Professor

Contact info

Tel.: (+48) 22 234 71 36
E-mail: Janusz.Fraczek(at)pw.edu.pl

'Nowy Lotniczy' Building, room 322

Contact hours

$jfraczek$

Scientific interests

Computer mehods in mechanics
Kinematics and dynamics of multibody systems
Robotics
Biomechanics

Courses taught

Dynamics of Multibody Systems
Miernictwo i techniki eksperymentu (in Polish)
Teoria maszyn i mechanizmów I (in Polish)

Selected publications

Books

Frączek J., Wojtyra M.: Kinematyka układów wieloczłonowych. Metody obliczeniowe. 458 pages + CD, WNT, Warszawa 2008. (in Polish)
Wojtyra M., Frączek J.: Metoda układów wieloczłonowych w dynamice mechanizmów. 180 pages + CD, Oficyna Wydawnicza PW, Warszawa 2007. (in Polish)
Frączek J.: Modelowanie mechanizmów przestrzennych metodą układów wieloczłonowych. Prace Naukowe Politechniki Warszawskiej, Mechanika, z. 196, Warszawa 2002, Oficyna Wydawnicza Politechniki Warszawskiej, 140 pages. (in Polish)

Journals

Pękal M., Malczyk P., Wojtyra M., Frączek J.: Divide-and-conquer-based approach for the reaction uniqueness analysis in overconstrained multibody systems. Multibody System Dynamics, Vol. ??, Iss. ?, 1–30, Springer 2024.
Wojtyra M., Pękal M., Frączek J.: Utilization of the Moore-Penrose inverse in the modeling of overconstrained mechanisms with frictionless and frictional joints. Mechanism and Machine Theory, Vol. 153, 103999, Elsevier 2020.
Pękal M., Wojtyra M., Frączek J.: Free-body-diagram method for the uniqueness analysis of reactions and driving forces in redundantly constrained multibody systems with nonholonomic constraints. Mechanism and Machine Theory, Vol. 133, 329–346, Elsevier 2019.
Malczyk P., Frączek J., Gonzalez F., Cuadrado J.: Index-3 divide-and-conquer algorithm for efficient multibody system dynamics simulations: theory and parallel implementation, Nonlinear Dynamics, 2018, DOI: https://doi.org/10.1007/s11071-018-4593-3.
Chadaj, K., Malczyk, P., Frączek, J.: A Parallel Recursive Hamiltonian Algorithm for Forward Dynamics of Serial Kinematic Chains, IEEE Transactions on Robotics, Vol. 33(3), pp. 647-660, DOI: 10.1109/TRO.2017.2654507, 2017.
Chadaj, K., Malczyk, P., Frączek, J.: A parallel Hamiltonian formulation for forward dynamics of closed-loop multibody systems, Multibody System Dynamics, Vol. 39(1), pp. 51-77, DOI: 10.1007/s11044-016-9531-x, 2017.
Malczyk, P., Frączek, J.: Molecular dynamics simulation of simple polymer chain formation using divide and conquer algorithm based on the augmented Lagrangian method, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, Vol. 229(2), pp. 116-131, DOI: 10.1177/1464419314549875, 2015.
Orzechowski G., Frączek J.: Nearly incompressible nonlinear material models in the large deformation analysis of beams using ANCF. Nonlinear Dynamics, 82(1):451–464, 2015.
Wojtyra M., Frączek J.: Solvability of reactions in rigid multibody systems with redundant nonholonomic constraints. Multibody System Dynamics, Vol. 30, Iss. 2, 153-171, Springer 2013.
Wojtyra M., Frączek J.: Comparison of Selected Methods of Handling Redundant Constraints in Multibody Systems Simulations. Journal of Computational and Nonlinear Dynamics, Vol. 8, Iss. 2, 021007 (1-9), ASME 2013.
Orzechowski G., Frączek J.: Integration of the equations of motion of multibody systems using absolute nodal coordinate formulation, Acta Mechanica et Automatica, 2012, Vol. 6 No. 2, pp. 75-83.
Wojtyra M., Frączek J.: Joint reactions in rigid or flexible body mechanisms with redundant constraints. Bulletin of the Polish Academy of Sciences: Technical Sciences, Vol. 60, Iss. 3, 617–626, 2012.
Malczyk P., Frączek J.: A divide and conquer algorithm for constrained multibody system dynamics based on augmented Lagrangian method with projections-based error correction, Nonlinear Dynamics 2012, DOI: 10.1007/s11071-012-0503-2.
Frączek J., Wojtyra M.: On the unique solvability of a direct dynamics problem for mechanisms with redundant constraints and Coulomb friction in joints. Mechanism and Machine Theory, Vol. 46, Iss. 3, 312-334, Elsevier 2011.
Tomulik P., Frączek J.: Simulation of multibody systems with the use of coupling techniques: a case study. Multibody System Dynamics, Volume 25, Number 2, pp. 145-165, Springer 2011.
Malczyk, P., Frączek, J.: Parallel algorithm for constrained multibody system dynamics with many degrees of freedom, International Journal of Applied Mechanics and Engineering, 15(3):779–791, 2010.
Frączek J., Wojtyra M.: Dynamic analysis of mechanisms with joint friction in the presence of redundant constraints. International Journal of Applied Mechanics and Engineering, 15(3), 685-698, 2010.
Malczyk, P., Frączek, J.: Evaluation of parallel efficiency in modeling of mechanisms using commercial multibody solvers, The Archive of Mechanical Engineering, Vol. LVI (3), 237-249, 2009.
Malczyk P., Frączek J.: Cluster Computing of Mechanisms Dynamics Using Recursive Formulation, Multibody System Dynamics, Volume 20, Number 2, pp. 177-196, Springer 2008.
Zglińska M., Orzechowski G., Frączek J.: Dynamical Analysis of the Deformable Power Transmission Mechanism Using Mixed FEM and MBS Method, Journal of KONES Powertrain and Transport, 2008, Vol. 15 No.1, pp. 235-245.
Frączek J., Wojtyra M., Davliakos I., Papadopoulos E.: Simulational Study of an Hydraulically Driven Parallel Manipulator Control System. Journal of KONES Powertrain and Transport, Vol. 15, No. 1, 51-68, 2008.
Arczewski K., Frączek J.: Friction Models and Stress Recovery Methods in Vehicle Dynamics Modelling, Multibody System Dynamics, 2005 (14), Springer, pp. 205-224.
Frączek J., Wojtyra M.: Teaching Multibody Dynamics at Warsaw University of Technology, Multibody System Dynamics, 2005 (13), Springer, pp. 353-361.
Frączek J., Morecki A.: Theoretical and experimental investigations of time-varying contact problems in miliwalking machines (a case study). Mechatronics. Elsevier Science Ltd, vol. 10, No. 8, 2000, pp. 921-933.
Frączek J., Wojtyra M.: Dynamic analysis of mechanisms and robots with redundant constraints, part II ‑ direct problem. Archive of Mechanical Engineering, Vol. XLII, pp. 177 ‑ 187, 1995.
Frączek J., Wojtyra M.: Dynamic analysis of mechanisms and robots with redundant constraints, part I ‑ inverse problem. Archive of Mechanical Engineering, Vol. XLII, pp. 167 ‑ 176, 1995.
Frączek J.: Dynamics of Mechanical Systems with Coulomb Friction. Part II. Numerical Calculations. Examples. Archive of Mechanical Engineering, Vol. XL, 1993, pp. 207-215.
Frączek J.: Dynamics of Mechanical Systems with Coulomb Friction. Part I. Theory. Archive of Mechanical Engineering, Vol. XL, 1993, pp. 81-93.
Frączek J.: Dynamic Analysis of Elastic Manipulators. Archive of Mechanical Engineering, Vol. XXXVIII, 1991, pp. 211-221.

Book chapters

Frączek J., Surowiec M., Wojtyra M.: Multibody Modelling of a Tracked Robot’s Actuation System. Aerospace Robotics, GeoPlanet: Earth and Planetary Sciences. Sąsiadek J. (Ed.), 75-93, Springer 2013.
Frączek J., Surowiec M., Wojtyra M.: Model symulacyjny układu napędowego robota gąsienicowego. Postępy Robotyki. Tom I, red. K. Tchoń i C. Zieliński, 179-188, OWPW, Warszawa 2012.
Frączek J., Wojtyra M.: Application of General Multibody Methods to Robotics. Multibody Dynamics. Computational Methods and Applications. Arczewski K., Blajer W., Frączek J., Wojtyra M. (Eds.), Springer 2011, pp. 131-152.
Tomulik P., Frączek J.: Modelowanie układów mechanicznych z wykorzystaniem podziału na podukłady. "Teoria Maszyn i Mechanizmów", red. J. Wojnarowski i I. Adamiec-Wójcik, Wydawnictwo ATH, Bielsko Biała 2008, pp. 169-176.
Malczyk P., Frączek J.: Ocena efektywności obliczeń równoległych w modelowaniu mechanizmów z wykorzystaniem pakietów komercyjnych. "Teoria Maszyn i Mechanizmów", red. J. Wojnarowski i I. Adamiec-Wójcik, Wydawnictwo ATH, Bielsko Biała 2008, pp. 231-238.
Wojtyra M., Frączek J.: Model symulacyjny robota równoległego uwzględniający układ sterowania i dynamikę napędów. Problemy Robotyki. Tom I, red. K. Tchoń i C. Zieliński, Oficyna Wydawnicza PW, Warszawa 2008, pp. 305 - 314.
Arczewski K., Frączek J.: Aircraft Subsystem Modelling using Different MBS formalisms. Multibody Dynamics, Computational Methods and Applications, ed. Garcia Orden J.C., Goicolea J.M., Cuadrado J. Springer, 2007, pp. 201-220.
Malczyk P., Frączek J.: Analiza dynamiczna złożonych zamkniętych łańcuchów kinematycznych. Postępy robotyki. Sterowanie, percepcja i komunikacja, red. K. Tchoń, WKiŁ, Warszawa 2006, pp.47-57.
Wojtyra M., Frączek J.: Reakcje w mechanizmach z więzami nadmiarowymi. Teoria Maszyn i Mechanizmów, red. J. Wojnarowski i M. Galicki, Oficyna Wydawnicza Uniwersytetu Zielonogórskiego, 2006, pp. 134-140.
Malczyk P., Frączek J.: Zastosowanie metod rekursywnych do analizy dynamicznej mechanizmów przestrzennych. Teoria Maszyn i Mechanizmów, red. J. Wojnarowski i M. Galicki, Oficyna Wydawnicza Uniwersytetu Zielonogórskiego, 2006, pp. 125-130.

Conference proceedings

Malczyk P., Frączek J., González F, Cuadrado J.: Index-3 Divide And Conquer Algorithm For Efficient Multibody Dynamics Simulations. In the Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2017, Prague, Czech Republic, 2017.
Chadaj, K., Malczyk, P., Frączek, J. The performance of the Hamiltonian divide and conquer algorithm on parallel architectures. In Proceedings of The Fourth Joint International Conference on Multibody System Dynamics - IMSD 2016, Montreal, Canada, May 29–June 2, 2016.
Malczyk P., Chadaj K., Frączek J.: Parallel Hamiltonian Formulation For Forward Dynamics Of Free-Flying Manipulators. Proceedings of the 3rd Conference on Aerospace Robotics 17-18 November 2015, Warsaw, Poland.
Chadaj K., Malczyk P., Frączek J.: Hamiltonian Based Parallel Formulation For Open-Loop Multibody System Dynamics. Proceedings of the 14th IFToMM World Congress, Taipei, Taiwan, October 25-30, 2015. DOI: 10.6567/IFToMM.14TH.WC.OS11.017.
Chadaj K., Malczyk P., Frączek J.: Efficient parallel formulation for dynamics simulation of large articulated robotic systems. Proceedings of the 20th International Conference on Methods and Models in Automation and Robotics, 24-27 August, 2015, Międzyzdroje, Poland.
Wojtyra M., Frączek J.: Remarks on modeling of static friction in closed-loop kinematic chains. The ECCOMAS Thematic Conference Multibody Dynamics 2015, 2 strony (PDF), Barcelona, Spain, June 29 - July 2, 2015.
Orzechowski G., Frączek J.: Modeling of multilayer beams using the Absolute Nodal Coordinate Formulation. Proceedings of the ECCOMAS Multibody Dynamics 2015 Thematic Conference, Barcelona, Spain, 2015.
Chadaj K., Malczyk P., Frączek J.: Parallel recursive Hamiltonian formulation for constrained multibody system dynamics. Proceedings of the ECCOMAS Multibody Dynamics 2015 Thematic Conference, Barcelona, Spain, 2015.
Malczyk P., Chadaj K., Frączek, J.: A Parallel Algorithm For Multi-rigid Body System Dynamics Based On The Hamilton’s Canonical Equations. Proceedings of The Third Joint International Conference on Multibody System Dynamics - IMSD 2014, Busan, Korea, June 30 - July 3, 2014.
Chadaj K., Malczyk P., Frączek J.: Analiza dynamiki układów wieloczłonowych z zastosowaniem algorytmów równoległych we współrzędnych Hamiltona. Materiały XXIV Międzynarodowej Konferencji Naukowej Teorii Maszyn i Układów Mechatronicznych (rozszerzone streszczenie), 21-24 września 2014 r., Piechowice.
Malczyk P., Chadaj K., Frączek J.: Efficient formulation for open loop multibody system dynamics based on Hamilton’s canonical equations. In Proceedings of the 12th CONFERENCE on Dynamical Systems - Theory and Applications, Łódź, December 2-5, 2013.
Orzechowski G., Frączek J., Arczewski K.: Nonlinear incompressible material models for beam elements in absolute nodal coordinate formulation. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2013, Zagreb, Croatia, 2013.
Wojtyra M., Frączek J.: Constraint Reactions in Multibody Systems with Redundant Nonholonomic Constraints. Proceedings of The Second Joint International Conference on Multibody System Dynamics - IMSD 2012, Stuttgart, 13 stron (PDF), Stuttgart, Germany, May 29 - June 1, 2012.
Malczyk, P., Frączek, J.: Molecular dynamics simulation of simple polymer chain using parallel multibody algorithm based on augmented Lagrangian method. Proceedings of The Second Joint International Conference on Multibody System Dynamics - IMSD 2012, Stuttgart, Germany, May 29 - June 1, 2012.
Wojtyra M., Frączek J.: Overconstrained multibody systems – known and emerging issues. EUROMECH Colloquium 524. Multibody system modelling, control and simulation for engineering design – Program and abstracts, 62-63. University of Twente, Enschede, Netherlands, February 27–29, 2012.
Wojtyra M., Frączek J.: A comparison of various methods of redundant constraints handling in multibody system simulations. ASME Conference Proceedings, Vol. 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, 95-104, Washington, USA, August 29-31, 2011.
Malczyk P., Frączek J.: Parallel efficiency of Lagrange multipliers based divide and conquer algorithm for dynamics of multibody systems. Proceedings of the ASME 2011 IDETC/CIE Conferences, 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Washington DC, USA, August 29-31, 2011.
Malczyk P., Frączek J., Tomulik P.: A parallel algorithm for constrained multibody system dynamics based on augmented Lagrangian method with projections. Proceedings of the ECCOMAS Multibody Dynamics 2011 Thematic Conference, Brussels, Belgium, July 4-7, 2011.2011.
Frączek J., Surowiec M., Wojtyra M.: A simulation study of a mobile robot with self-locking speed reducers. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2011 (CD-ROM), 19 stron, Brussels, Belgium, July 4-7, 2011.
Wojtyra M., Frączek J.: Joint reactions in overconstrained rigid or flexible body mechanisms. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2011 (CD-ROM), 15 stron, Brussels, Belgium, July 4-7, 2011.
Orzechowski G., Frączek J.: Beam element of circular cross section based on the ANCF continuum mechanics approach. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2011 (CD-ROM), 12 stron, Brussels, Belgium, July 4-7, 2011.
Wojtyra M., Frączek J.: Modelling and Simulation of a Mobile Robot with Self-Locking Speed Reducers. Proceedings of the 13th IFToMM World Congress (CD-ROM), 8 stron, Guanajuato, Mexico, June 19-23, 2011.
Frączek J., Surowiec M., Wojtyra M.: Multibody Modelling of a Tracked Robot Actuation System. I Warsztaty Robotyka w Astronautyce i Aeronautyce, pp. 20-23, Warszawa, 8–9 czerwca, 2011.
Orzechowski G., Frączek J.: Modeling of the beams with taper cross section using absolute nodal coordinate formulation, 19th International Conference on Computer Methods in Mechanics, Warsaw, Poland, 2011, pp. 391-392.
Malczyk P., Frączek J., Cuadrado J.: Parallel Index-3 Formulation for Real-Time Multibody Dynamics Simulations, The First Joint International Conference on Multibody System Dynamics - IMSD 2010, Lappeenranta, Finland, 25-27 May 2010.
Tomulik. P., Frączek J.: Simulation of Multibody Systems with the Use of Coupling Techniques: A Case Study. Proceedings (CD-ROM), Multibody Dynamics 2009, ECCOMAS Thematic Conference, 20 pages, Warsaw, Poland, June 29 – July 2, 2009
Frączek J., Wojtyra M.: Joint Reactions Solvability in Spatial MBS with Friction and Redundant Constraints. Proceedings (CD-ROM), Multibody Dynamics 2009, ECCOMAS Thematic Conference, 21 pages, Warsaw, Poland, June 29 – July 2, 2009.
Malczyk P., Frączek J.: Lagrange Multipliers Based Divide and Conquer Algorithm for Dynamics of General Multibody Systems. Proceedings (CD-ROM), Multibody Dynamics 2009, ECCOMAS Thematic Conference, 24 pages, Warsaw, Poland, June 29 – July 2, 2009.
Frączek J., Wojtyra M.: Application of General Multibody Methods to Robotics. Proceedings (CD-ROM), Multibody Dynamics 2009, ECCOMAS Thematic Conference, 19 pages, Warsaw, Poland, June 29 – July 2, 2009.
Krawczyk T., Orzechowski G., Frączek J.: Badania symulacyjne dynamiki odkształcalnych mechanizmów przeniesienia napędu robota. "Programy MES we wspomaganiu analizy, projektowania i wytwarzania" – X Jubileuszowa Konferencja Naukowo-Techniczna, Kazimierz Dolny, 13-16 października 2007.
Malczyk P., Frączek J.: The Performance Comparisons of Different Approaches for Forward Dynamics of Mechanisms. Proceedings (CDROM) of Multibody Dynamics 2007, Advances in Computational Multibody Dynamics, ECCOMAS Thematic Conference, Milan, 25-28 June 2007.
Wojtyra M., Frączek J.: Redundant Constraints Reactions in Rigid MBS with Coulomb Friction in Joints. Proceedings (CD-ROM), ECCOMAS Thematic Conference Multibody Dynamics 2007, 17 pages, Milan, Italy, June 25-28, 2007.
Davliakos I., Papadopoulos E., Frączek J., Wojtyra M.: The Influence of Dynamics Model Simplifications on an Electrohydraulic Stewart Platform Model-Based Control Process. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2007 (CD-ROM), 18 pages, Milan, Italy, June 25-28, 2007.
Malczyk P., Frączek J.: Cluster Computing of Mechanisms Dynamics using Recursive Formulation. Proceedings (CD-ROM) of the 12th IFToMM World Congress , June 18-21, Besançon, France, 2007.
Wojtyra M., Frączek J.: Reactions of Redundant or Singular Constraints in Mechanisms with Rigid Links. Proceedings (CD-ROM) of the 12th IFToMM World Congress , June 18-21, Besançon, France, 2007.
Surowiec M., Frączek J.: Biomechanical analysis of shoulder joint movement by means of optimization methods. Proceedings (CDROM) of the 12th World Congress in Machine and Mechanism Science, June 18-21, Besancon, France, 2007.
Surowiec M., Frączek J.: Static and dynamic optimization methods in application to muscle forces sharing problem. 95th ICB Seminar on Advanced research methods of biomechanics, Warsaw 2007.
Frączek J., Łazicki P., Leski A.: Dynamical analysis and experimental verification of military aircraft main landing gear using multibody methods. Proceedings (CDROM) of Multibody Dynamics 2005, Advances in Computational Multibody Dynamics, ECCOMAS Thematic Conference, Madrid, 21-24 June 2005.
Surowiec M., Frączek J.: Comparison of different criteria of muscle force distribution in shoulder mechanism using multibody method and optimization algorithms. Proceedings (CDROM) of Multibody Dynamics 2005, Advances in Computational Multibody Dynamics, ECCOMAS Thematic Conference, Madrid, 21-24 June 2005.
Matej J., Piotrowski J., Wojtyra M., Frączek J.: Modelling and safety examination of the long bimodal train on curved track using ADAMS/RAIL. Proceedings of the 1st MSC.ADAMS European User Conference, London, November 13-14, 2002.