Dynamic Synthesis of a Flexible Multibody System
نویسنده
چکیده
Abstract—This work denotes an insight into dynamic synthesis of multibody systems. A set of mechanism parameters design variable are synthetized based on a desired mechanism response, such as, velocity, acceleration and bodies deformations. Moreover, knowing the work space, for a robot, and mechanism response allow defining optimal parameters mechanism handling with the desired target response. To this end, evolutionary genetic algorithm has been deployed. A demonstrative example for imperfect mechanism has been treated, mainly, a slider crank mechanism with a flexible connecting rod. The transversal deflection of the connecting rod has been chosen as response to identify the mechanism design parameters.
منابع مشابه
The Comparison of Direct and Indirect Optimization Techniques in Equilibrium Analysis of Multibody Dynamic Systems
The present paper describes a set of procedures for the solution of nonlinear static-equilibrium problems in the complex multibody mechanical systems. To find the equilibrium position of the system, five optimization techniques are used to minimize the total potential energy of the system. Comparisons are made between these techniques. A computer program is developed to evaluate the equality co...
متن کاملA Class of Stabilizing Controllers for Flexible Multibody Systems
This paper considers the problem of controlling a class of nonlinear multibody flexible space systems consisting of a flexible central body to which a number of articulated appendages are attached. Collocated actuators and sensors are assumed, and global asymptotic stability of such systems is established under a nonlinear dissipative control law. The stability is shown to be robust to unmodele...
متن کاملDynamic Modelling of Mechatronic Multibody Systems With Symbolic Computing and Linear Graph Theory
The application of linear graph theory to the modelling of flexible multibody systems is described. When combined with symbolic computing methods, linear graph theory leads to efficient dynamic models that facilitate real-time simulation of systems of rigid bodies and flexible beams. The natural extension of linear graphs to the modelling of mechatronic multibody systems is presented, along wit...
متن کاملDevelopment of a Finite Element Methodology for Flexible Track Models in Railway Dynamics Applications
The dynamic analysis of railway vehicles involves the construction of three independent models: the vehicle model; the track model; and the wheel-rail contact model. In this work, a multibody formulation with Cartesian coordinates is used to describe the kinematic structure of the rigid bodies and joints that constitute the vehicle model. A methodology is also proposed in order to create detail...
متن کاملFlexible Multibody System Linear Modeling for Control using Component Modes Synthesis and Double-Port Approach
The main objective of this study is to propose a methodology to build a parametric linear model of Flexible Multibody Systems for control design. This approach uses a combined Finite Element State Space Approach based on component modes synthesis and double-port approach. The proposed scheme offers the advantage of automatic assembly of substructures, preserving the elastic dynamical behavior o...
متن کامل