A model reduction method for the control of rigid mechanisms

Bruls, Olivier; Duysinx, Pierre; Golinval, Jean-Claude

doi:10.1007/s11044-006-1354-8

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Article (Scientific journals)

A model reduction method for the control of rigid mechanisms

Bruls, Olivier; Duysinx, Pierre; Golinval, Jean-Claude

2006 • In Multibody System Dynamics, 15 (3), p. 213-227

Peer reviewed

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https://hdl.handle.net/2268/4429

DOI
10.1007/s11044-006-1354-8

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Keywords :

constraint elimination; interpolation; model reduction; parallel mechanism

Abstract :

[en] This paper presents a reduction method to build closed-form dynamic equations for rigid multibody systems with a minimal kinematic description. Relying on an initial parameterization with absolute displacements and rotations, the method is able to tackle complex topologies with closed-loops in a systematic way and its extension to flexible multibody systems will be investigated in the future. Thus, it would be of great use in the framework of model-based control of mechanisms. The method is based on an interpolation strategy. The initial model is built and reduced for a number of selected points in the configuration space. Then, a piecewise polynomial model is adjusted to match the collected data. After the presentation of the reduction procedure and of the interpolation strategy, two applications of the reduction method are considered: a four-bar mechanism and a parallel kinematic machine-tool called "Orthoglide".

Disciplines :

Mechanical engineering

Author, co-author :

Bruls, Olivier ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > LTAS - Vibrations et identification des structures

Duysinx, Pierre ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Ingénierie des véhicules terrestres

Golinval, Jean-Claude ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > LTAS - Vibrations et identification des structures

Language :

English

Title :

A model reduction method for the control of rigid mechanisms

Publication date :

2006

Journal title :

Multibody System Dynamics

ISSN :

1384-5640

eISSN :

1573-272X

Publisher :

Springer, Dordrecht, Netherlands

Volume :

Issue :

Pages :

213-227

Peer reviewed :

Peer reviewed

Additional URL :

http://www.springer.com/engineering/journal/11044

Available on ORBi :

since 21 January 2009

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