Dynamical analysis of a flexible manipulator arm
TL;DR: In this article, the dynamics of a space manipulator designed to be set on a servicing satellite (S 0 ) and to grasp another satellite (P 0 ) are investigated, where a continuum approach is used to describe distributed flexibility in the manipulator.
About: This article is published in Acta Astronautica.The article was published on 1990-03-01. It has received 14 citations till now. The article focuses on the topics: Mobile manipulator & Parallel manipulator.
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01 Jan 1989TL;DR: In this article, the authors propose a floating frame of reference formulation for large deformation problems in linear algebra, based on reference kinematics and finite element formulation for deformable bodies.
Abstract: 1. Introduction 2. Reference kinematics 3. Analytical techniques 4. Mechanics of deformable bodies 5. Floating frame of reference formulation 6. Finite element formulation 7. Large deformation problem Appendix: Linear algebra References Index.
2,125 citations
TL;DR: A review of past and recent developments in the dynamics of flexible multibody systems is presented, and some of the basic approaches used in the computer aided kinematic and dynamic analysis of flexible mechanical systems are reviewed to identify future directions in this research area.
Abstract: In this paper, a review of past and recent developments in the dynamics of flexible multibody systems is presented. The objective is to review some of the basic approaches used in the computer aided kinematic and dynamic analysis of flexible mechanical systems, and to identify future directions in this research area. Among the formulations reviewed in this paper are the floating frame of reference formulation, the finite element incremental methods, large rotation vector formulations, the finite segment method, and the linear theory of elastodynamics. Linearization of the flexible multibody equations that results from the use of the incremental finite element formulations is discussed. Because of space limitations, it is impossible to list all the contributions made in this important area. The reader, however, can find more references by consulting the list of articles and books cited at the end of the paper. Furthermore, the numerical procedures used for solving the differential and algebraic equations of flexible multibody systems are not discussed in this paper since these procedures are similar to the techniques used in rigid body dynamics. More details about these numerical procedures as well as the roots and perspectives of multibody system dynamics are discussed in a companion review by Schiehlen [79]. Future research areas in flexible multibody dynamics are identified as establishing the relationship between different formulations, contact and impact dynamics, control-structure interaction, use of modal identification and experimental methods in flexible multibody simulations, application of flexible multibody techniques to computer graphics, numerical issues, and large deformation problem. Establishing the relationship between different flexible multibody formulations is an important issue since there is a need to clearly define the assumptions and approximations underlying each formulation. This will allow us to establish guidelines and criteria that define the limitations of each approach used in flexible multibody dynamics. This task can now be accomplished by using the “absolute nodal coordinate formulation” which was recently introduced for the large deformation analysis of flexible multibody systems.
775 citations
TL;DR: The status and some recent developments in computational modeling of flexible multibody systems are summarized in this article, where a number of aspects of flexible multi-body dynamics including: modeling of the flexible components, constraint modeling, solution techniques, control strategies, coupled problems, design, and experimental studies.
Abstract: The status and some recent developments in computational modeling of flexible multibody systems are summarized. Discussion focuses on a number of aspects of flexible multibody dynamics including: modeling of the flexible components, constraint modeling, solution techniques, control strategies, coupled problems, design, and experimental studies. The characteristics of the three types of reference frames used in modeling flexible multibody systems, namely, floating frame, corotational frame, and inertial frame, are compared. Future directions of research are identified. These include new applications such as micro- and nano-mechanical systems; techniques and strategies for increasing the fidelity and computational efficiency of the models; and tools that can improve the design process of flexible multibody systems. This review article cites 877 references. @DOI: 10.1115/1.1590354#
360 citations
TL;DR: Transfer matrix method for multibody system (MSTMM) is a new multi-body dynamics method developed in recent 20 years and has been widely used in both science research and engineering for its special properties as discussed by the authors.
Abstract: Transfer matrix method for multibody System (MSTMM) is a new multibody dynamics method developed in recent 20 years. It has been widely used in both science research and engineering for its special...
65 citations
01 Jan 1994
TL;DR: This paper summarizes procedures for studying flexible multibody systems using finite segment modelling and believes that this approach combined with finite element and modal analysis methods can provide a comprehensive global and local analysis.
Abstract: This paper summarizes procedures for studying flexible multibody systems using finite segment modelling. In these procedures flexible members of multibody systems are themselves modelled as multibody (or “lumped”) systems. The flexibility is then modelled by springs and dampers between the bodies. Although the method has the disadvantage of being computationally intensive, the procedures presented are intended to ease the computational burden by efficient modelling and by efficient analytical formulations. It is believed that this approach combined with finite element and modal analysis methods can provide a comprehensive global and local analysis. Two examples are presented.
47 citations
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TL;DR: A method in which subspace iteration is utilized in conjunction with a frequency dependent mass and stiffness formulation is described and applied to framed structures.
113 citations
TL;DR: The implications of flexible appendages on the attitude dynamics of a space vehicle are examined in general terms and two families of natural vibration modes are discussed and the relationships between them derived.
Abstract: The implications of flexible appendages on the attitude dynamics of a space vehicle are examined in general terms. Two families of natural vibration modes, referred to as ‘constrained’ and ‘unconstrained’, are discussed and the relationships between them derived. The incorporation of either set of modes into a simulation of the general attitude motion (under the influence of perturbing torques and control torques) is explained. The influence of rotors on these results is also explored.
62 citations
TL;DR: In this article, the authors studied the dynamics of flexible space vehicles modelled by a chain of rigid and elastic bodies with tree structure, and obtained an impedance matrix giving in frequency domain the response of the structure to external forces.
Abstract: The subject of this work is the dynamics of flexible space vehicles modelled by a chain of rigid and elastic bodies with tree structure. The aim of this investigation is to obtained an impedance matrix giving in frequency domain the response of the structure to external forces. We show that it is possible to obtain an expansion of this impedance matrix in terms of an infinite set of modal frequencies termed constrained modes and an expansion of the inverse of this impedance matrix in terms of an other set of modes. The work is a generalization of the theory made by Hugues [3] and others for systems with star structure.
24 citations