Model reduction; Control; Flexible multibody systems; Finite element method
Abstract :
[en] This paper presents a method to build closed-form dynamic equations for flexible multibody systems with a minimal kinematic description. Relying on the Finite Element formalism, the method is able to tackle complex topologies with closed-loops in a systematic way. Thus, it will be of great use in the framework of model based control of flexible mechanisms. The reduction procedure is based on an interpolation strategy: a Finite Element model is built and reduced for a number of selected points in the configuration space, and then, a piecewise polynomial model is adjusted to match the collected data. A few applications of the reduction method are considered: a serial pick-and-place machine, a flexible four bar mechanism, and a parallel kinematic manipulator.
Disciplines :
Mechanical engineering
Author, co-author :
Bruls, Olivier ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
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 systematic model reduction method for the control of flexible multibody systems
Publication date :
August 2004
Event name :
21st Int. Congress of Theoretical and Applied Mechanics (ICTAM)
Event place :
Warsaw, Poland
Event date :
15–21 August 2004
Audience :
International
Main work title :
Proc. of the 21st Int. Congress of Theoretical and Applied Mechanics (ICTAM)
