R. Vidoni, A. Gasparetto, M. Giovagnoni and P. Boscariol
A novel 3D equivalent rigid link system approach for flexible-link mechanisms: formulation and comparison with the floating frame of reference approach
Proc. of the ECCOMAS Thematic Conference on Multibody Dynamics 2011, Brussels, July 4-7 2011, pp.1-13

Abstract: In this work, a novel approach for modeling 3-D flexible-link system dynamics is discussed and compared with respect to the Floating Frame of Reference (FFR) formulation, at today the most used and adopted method for dynamic modeling of multibody rigid-flexible-link mechanisms featuring large displacements and small deformations. The novel 3-D method is based on an Equivalent Rigid Link System (ERLS) that enables to decouple the kinematic equations of the ERLS from the compatibility equations of the displacements at the joints without neglecting the mutual influence between rigid body motion and vibration. The results can then be used and easily integrated in the equations of the dynamic model of the flexible multibody system. After the theoretical development, the kinematic and dynamic models have been implemented on a MatlabTMsoftware simulator and validated by comparing the results with the AdamsTMcommercial software.

Topic: Mechanical Vibrations

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