Book ChapterDOI
Studying Continuum Dynamic Behaviour Through Rigid Multibody Dynamics
Vikas Kumar Kharolia,Jayanta Kumar Dutt,Subir Kumar Saha,Suril V. Shah +3 more
- pp 1823-1830
TLDR
The rigid multi-body equivalent of a continuum (a structure or a rotor) is built and this is supposed to be useful in simulating dynamic behaviour of continua under generic dynamic conditions.Abstract:
Studying the dynamic behaviour of continuum using discretization through Finite Element is common place. This paper attempts to apply the concept of rigid multibodies connected with proper kinematic pairs to approximate the kinematic behaviour of a flexible body; the system of interconnected rigid multibodies is then used to simulate the deformation pattern of a flexible body under dynamic loading. With this aim, this paper simulates, to begin with, the dynamic behaviour of a simple Cantilevered beam by considering several bar-like rigid multibodies connected by revolute pairs having properly design torsional stiffness to simulate the static deformation pattern under different loading conditions. Later this system is used to find out the dynamic deformation pattern with the help of the software, called ReDySim (Shah et al. in CSTAM Theor Appl Mech Lett 2:063011, 2012 [2]), a multibody dynamic simulation package based on Decoupled Natural Orthogonal Complement (DeNOC) (Saha et al. in Mech Sci 4:1–20, 2013 [1]) concept, in the form of mode shapes and natural frequencies of the system. Next the same model is extended to simulate the dynamic behaviour of a Cantilevered overhung rotor-shaft. The results obtained from ReDySim are compared with those obtained from a MATLAB code written for simulating a formulation based on FEM; a close match between these two dynamics behaviors is obtained to prove the validity of the approach. Thus the rigid multi-body equivalent of a continuum (a structure or a rotor) is built and this is supposed to be useful in simulating dynamic behaviour of continua under generic dynamic conditions.read more
Citations
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Journal ArticleDOI
Forward dynamic analyses of cable-driven parallel robots with constant input with applications to their kinetostatic problems
TL;DR: A solution to the kinetostatic problem of CDPRs is proposed, wherein starting with a non-equilibrium pose, the CDPR is allowed to evolve dynamically until attaining an equilibrium.
References
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Journal ArticleDOI
Multi-body dynamics including the effects of flexibility and compliance
TL;DR: In this paper, the Euler parameters, Lagrange's form of d'Alembert's principle, generalized speeds, quasi-coordinates, relative coordinates, and structural analysis techniques are used for solving the equations of motion of multi-body mechanical systems with flexible links.
Journal ArticleDOI
The dynamics of flexible multibody systems: A finite segment approach—II. Example problems
J.D. Connelly,Ronald L. Huston +1 more
TL;DR: In this article, the stiffness and damping coefficients of these are found using the physical properties of the members and then incorporated into the equations of motion, which is based on Kane's equations.
Journal ArticleDOI
Recursive dynamics simulator (ReDySim): A multibody dynamics solver
TL;DR: The recursive dynamics simulator (ReDySim) is a MATLAB-based recursive solver for dynamic analysis of multibody systems that delves upon the decoupled natural orthogonal complement approach originally developed for serial-chain manipulators.
Journal ArticleDOI
Evolution of the DeNOC-based dynamic modelling for multibody systems
TL;DR: This paper captures the evolution of the DeNOC-based dynamic modelling applied to different type of systems, and its benefits over other existing methodologies.
Proceedings ArticleDOI
Lumped parameter dynamic modeling for the flexible manipulator
Ding Xilun,J.M. Selig +1 more
TL;DR: An improved efficiency dynamic modeling method based on the Holzer method is proposed, called Ding-Holzer method, applied to the dynamic modeling of planar single arm, multiple link manipulators and the arm with spatial compliance, respectively.