Reference : A systematic model reduction method for the control of flexible multibody systems
Scientific congresses and symposiums : Paper published in a book
Engineering, computing & technology : Mechanical engineering
http://hdl.handle.net/2268/61642
A systematic model reduction method for the control of flexible multibody systems
English
Bruls, Olivier mailto [Université de Liège - ULg > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]
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 >]
Aug-2004
Proc. of the 21st Int. Congress of Theoretical and Applied Mechanics (ICTAM)
1-2
No
No
International
21st Int. Congress of Theoretical and Applied Mechanics (ICTAM)
15–21 August 2004
Warsaw
Poland
[en] Model reduction ; Control ; Flexible multibody systems ; Finite element method
[en] This paper presents a method to build closed-form dynamic equations for flexible multibody systems with a minimal kinematic description. Relying on the Finite Element formalism, the method is able to tackle complex topologies with closed-loops in a systematic way. Thus, it will be of great use in the framework of model based control of flexible mechanisms. The reduction procedure is based on an interpolation strategy: a Finite Element model is built and reduced for a number of selected points in the configuration space, and then, a piecewise polynomial model is adjusted to match the collected data. A few applications of the reduction method are considered: a serial pick-and-place machine, a flexible four bar mechanism, and a parallel kinematic manipulator.
Researchers ; Professionals ; Students
http://hdl.handle.net/2268/61642

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