Reference : Generation of closed-form models for the control of flexible mechanisms: a numerical app...
Scientific congresses and symposiums : Paper published in a book
Engineering, computing & technology : Mechanical engineering
http://hdl.handle.net/2268/61648
Generation of closed-form models for the control of flexible mechanisms: a numerical approach
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 7th Int. Conf. on Motion and Vibration Control (MOVIC)
1-10
No
No
International
7th International Conference on Motion and Vibration Control
Saint-Louis
USA
[en] Numerical methods ; Flexible mechanisms ; Finite element method ; Robotics
[en] In robotics, most high performances control strategies require a closed-form representation of the mechanical dynamic behaviour. This is even more critical when significant flexible effects are to be considered in the control algorithm. This paper presents a method to build closed-form dynamic equations for flexible multibody systems in terms of minimal coordinates. Relying on the Finite Element (FE) formulation, the method is able to tackle complex topologies with closed-loops in a systematic way. The method is based on an interpolation strategy. For a number of selected points in the configuration space, a full Finite Element model is built and reduced according to a component mode synthesis. Then, a piecewise polynomial model is adjusted to match the collected data. In order to guarantee the continuity of the model, a mode tracking strategy is implemented. After the presentation of the reduction procedure and of the interpolation strategy, a four-bar mechanism is analyzed as an illustrative example.
Researchers ; Professionals ; Students
http://hdl.handle.net/2268/61648

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