Reference : A model reduction method for the control of rigid mechanisms
Scientific journals : Article
Engineering, computing & technology : Mechanical engineering
http://hdl.handle.net/2268/4429
A model reduction method for the control of rigid mechanisms
English
Bruls, Olivier mailto [Université de Liège - ULg > Département d'aérospatiale et mécanique > LTAS - Vibrations et identification des structures >]
Duysinx, Pierre mailto [Université de Liège - ULg > Département d'aérospatiale et mécanique > Ingénierie des véhicules terrestres >]
Golinval, Jean-Claude mailto [Université de Liège - ULg > Département d'aérospatiale et mécanique > LTAS - Vibrations et identification des structures >]
2006
Multibody System Dynamics
Springer
15
3
213-227
Yes
International
1384-5640
Dordrecht
[en] constraint elimination ; interpolation ; model reduction ; parallel mechanism
[en] This paper presents a reduction method to build closed-form dynamic equations for rigid multibody systems with a minimal kinematic description. Relying on an initial parameterization with absolute displacements and rotations, the method is able to tackle complex topologies with closed-loops in a systematic way and its extension to flexible multibody systems will be investigated in the future. Thus, it would be of great use in the framework of model-based control of mechanisms. The method is based on an interpolation strategy. The initial model is built and reduced for a number of selected points in the configuration space. Then, a piecewise polynomial model is adjusted to match the collected data. After the presentation of the reduction procedure and of the interpolation strategy, two applications of the reduction method are considered: a four-bar mechanism and a parallel kinematic machine-tool called "Orthoglide".
http://hdl.handle.net/2268/4429
10.1007/s11044-006-1354-8
http://www.springer.com/engineering/journal/11044

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