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On the first-order decoupling of dynamical equations of motion for elastic multibody systems as applied to a two-link flexible manipulator

Meghdari, A ; Sharif University of Technology | 2001

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  1. Type of Document: Article
  2. DOI: 10.1023/A:1026576603498
  3. Publisher: 2001
  4. Abstract:
  5. An improved method for deriving elastic generalized coordinates is considered. Then Kane's equations of motion for multibody systems consisting of an arbitrary number of rigid and elastic bodies is presented. The equations are in general form and are applicable for any desired holonomic system. Flexibility in choosing generalized speeds in terms of generalized coordinate derivatives in Kane's method is used. It is shown that proper choice of a congruency transformation between generalized coordinate derivatives and generalized speeds leads to equations of motion for holonomic multibody systems consisting of an arbitrary number of rigid and elastic bodies. These equations are decoupled in first-order terms. In order to show the use of this method, a simple system consisting of a lumped mass, a spring and a clamped-free elastic beam is modeled. Finally, the numerical implementation of decoupling using congruency transformation is discussed and shown via simulation of a two-degrees-of-freedom flexible robot
  6. Keywords:
  7. Decoupling dynamical equations ; Flexible manipulators ; Kane's method
  8. Source: Multibody System Dynamics ; Volume 5, Issue 1 , 2001 , Pages 1-20 ; 13845640 (ISSN)
  9. URL: https://link.springer.com/article/10.1023/A:1026576603498