Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Experimental apparatus showing locations of tracking points on the mechanism components used for model validation comparisons.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Piano-pressed input force profile (top) and simulated and experimental vertical displacement of key front and whippen (middle) and hammer tip (bottom) tracking points. Time zero corresponds to the moment of maximum hammer–string contact force. Inset detail shows moment of first hammer–string contact (point B).

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Forte-pressed input force profile (top) and simulated and experimental vertical displacement of tracking points on key front and whippen (middle) and hammer (bottom). Time zero corresponds to the moment of maximum hammer–string contact force.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Sensitivity of hammer dynamic response to key pivot revolute joint friction. Simulated hammer tip horizontal displacement for piano-pressed (top) and forte-pressed (bottom) inputs with original friction parameters and increased by factor of three.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Sensitivity of hammer dynamic response to hammer–backcheck sliding friction. Simulated hammer tip horizontal displacement for piano-pressed (top) and forte-pressed (bottom) inputs with original friction parameters and reduced by 50%.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Components and configuration of a typical vertical piano action mechanism

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Graph–theoretic model of a vertical piano action mechanism (Steinway Model 45), showing the five bodies and the graph edges representing their physical behavior. Generalized coordinates for the rigid-body motions are also indicated.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Comparison between simulated horizontal hammer displacement with hysteretic and nonhysteretic contact models in case of piano-pressed (top) and forte-pressed (bottom) inputs.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Simulated and experimental key vertical displacement at the balance point (balance rail punching compression) and difference between them (absolute simulation “error”) in the insets, for piano- and forte-pressed inputs.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Simulated hammer versus key front vertical displacement for piano- and forte-pressed inputs, showing effect due to a 50% softer prismatic contact.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Simulated horizontal displacement of hammer tracking point with flexible and rigid backcheck wire for piano- and forte-pressed inputs.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Simulated horizontal displacement of hammer tip with flexible and rigid hammer shank for forte- and piano-pressed inputs.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Horizontal displacement of the hammer tip for forte- and piano-pressed input forces with elastic string or rigid stop ground contact.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Staccato force input (top) and simulated response as hammer horizontal displacement (bottom) for different activation scenarios for the butt spring and bridle strap.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Simulated bridle strap force (top) and simulated and experimental horizontal hammer displacement (bottom) for staccato key input force with operative bridle strap and normal butt spring.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Simulated and experimental hammer horizontal displacement (top) and simulated bridle strap force (bottom) for staccato key input force with disconnected butt spring and normal bridle strap.

Date of download: 10/7/2017 Copyright © ASME. All rights reserved. From: Experimental Validation of a Mechanistic Multibody Model of a Vertical Piano Action J. Comput. Nonlinear Dynam. 2015;10(6):061004-061004-11. doi:10.1115/1.4028194 Figure Legend: Simulated and experimental hammer horizontal displacement for staccato key input force with inoperative bridle strap and normal butt spring.