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See detailLie group generalized-alpha time integration of constrained flexible multibody systems
Bruls, Olivier ULg; Cardona, Alberto; Arnold, Martin

in Mechanism & Machine Theory (2012), 48

This paper studies a Lie group extension of the generalized-alpha time integration method for the simulation of flexible multibody systems. The equations of motion are formulated as an index-3 ... [more ▼]

This paper studies a Lie group extension of the generalized-alpha time integration method for the simulation of flexible multibody systems. The equations of motion are formulated as an index-3 differential-algebraic equation (DAE) on a Lie group, with the advantage that rotation variables can be taken into account without the need of introducing any parameterization. The proposed integrator is designed to solve this equation directly on the Lie group without index reduction. The convergence of the method for DAEs is studied in detail and global second-order accuracy is proven for all solution components, i.e. for nodal translations, rotations and Lagrange multipliers. The convergence properties are confirmed by three benchmarks of rigid and flexible systems with large rotation amplitudes. The Lie group method is compared with a more classical updated Lagrangian method which is also formulated in a Lie group setting. The remarkable simplicity of the new algorithm opens interesting perspectives for real-time applications, model-based control and optimization of multibody systems. [less ▲]

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See detailIntegrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach
da Silva, M. M.; de Oliveira, L. P. R.; Bruls, Olivier ULg et al

in Mechanism & Machine Theory (2010), 45

This paper discusses the integrated design of parallel manipulators, which exhibit varying dynamics. This characteristic affects the machine stability and performance. The design methodology consists of ... [more ▼]

This paper discusses the integrated design of parallel manipulators, which exhibit varying dynamics. This characteristic affects the machine stability and performance. The design methodology consists of four main steps: (i) the system modeling using flexible multibody technique, (ii) the synthesis of reduced-order models suitable for control design, (iii) the systematic flexible model-based input signal design, and (iv) the evaluation of some possible machine designs. The novelty in this methodology is to take structural flexibilities into consideration during the input signal design; therefore, enhancing the standard design process which mainly considers rigid bodies dynamics. The potential of the proposed strategy is exploited for the design evaluation of a two degree-of-freedom high-speed parallel manipulator. The results are experimentally validated. [less ▲]

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See detailComputer-aided integrated design for machines with varying dynamics
da Silva, Maira M; Bruls, Olivier ULg; Swevers, Jan et al

in Mechanism & Machine Theory (2009), 44(9), 1733-1745

This paper discusses the integrated design of mechatronic systems with varying dynamics, such as serial and parallel machine tools. This characteristic affects the machine stability and performance. A ... [more ▼]

This paper discusses the integrated design of mechatronic systems with varying dynamics, such as serial and parallel machine tools. This characteristic affects the machine stability and performance. A computer-aided integrated design methodology is proposed and validated on a pick-and-place robot. It consists of two main steps: (i) the derivation of reduced models from a flexible multibody model and (ii) the systematic robust control design. Eventually, the integrated design of the system, considering both structural and control parameters, can be performed. [less ▲]

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