Dynamics of flexible bodies in tree topology - A computer oriented approach

An approach suited for automatic generation of the equations of motion for large mechanical systems (i.e., large space structures, mechanisms, robots, etc.) is presented. The system topology is restricted to a tree configuration. The tree is defined as an arbitrary set of rigid and flexible bodies connected by hinges characterizing relative translations and rotations of two adjoining bodies. The equations of motion are derived via Kane's method. The resulting equation set is of minimum dimension. Dynamical equations are imbedded in a computer program called TREETOPS. Extensive control simulation capability is built in the TREETOPS program. The simulation is driven by an interactive set-up program resulting in an easy to use analysis tool.

[1]  Baldine-brunel Paul,et al.  Analytical dynamics of mechanisms—a computer oriented overview , 1975 .

[2]  R. C. Winfrey,et al.  Elastic Link Mechanism Dynamics , 1971 .

[3]  Wayne J. Book.  Modeling, design and control of flexible manipulator arms , 1974 .

[4]  J.Y.L. Ho,et al.  Direct Path Method for Flexible Multibody Spacecraft Dynamics (Originally schedulled for publication in the AIAA Journal) , 1977 .

[5]  Edward J. Haug,et al.  Design Sensitivity Analysis of Planar Mechanism and Machine Dynamics , 1981 .

[6]  M. Vukobratović,et al.  Computer method for dynamic model construction of active articulated mechanisms using kinetostatic approach , 1978 .

[7]  David A. Levinson,et al.  Equations of Motion for Multiple-Rigid-Body Systems via Symbolic Manipulation , 1977 .

[8]  P. Likins.  Dynamic analysis of a system of hinge-connected rigid bodies with nonrigid appendages. [equations of motion] , 1973 .

[9]  T. Kane,et al.  ON THE DERIVATION OF EQUATIONS OF MOTION , 1965 .

[10]  Thomas R. Kane,et al.  Formulation of Equations of Motion for Complex Spacecraft , 1980 .

[11]  Parviz E. Nikravesh,et al.  Application of Euler Parameters to the Dynamic Analysis of Three-Dimensional Constrained Mechanical Systems , 1981 .

[12]  W. Book.  Recursive Lagrangian Dynamics of Flexible Manipulator Arms via Transformation Matrices , 1983 .

[13]  J. M. Vance,et al.  Derivation of First-Order Difference Equations for Dynamical Systems by Direct Application of Hamilton’s Principle , 1970 .

[14]  Steven Dubowsky,et al.  The Application of Finite Element Methods to the Dynamic Analysis of Flexible Spatial and Co-Planar Linkage Systems , 1981 .

[15]  J. C. Samin,et al.  Stability Analysis of Interconnected Deformable Bodies with Closed-Loop Configuration , 1975 .

[16]  Peter W. Likins,et al.  Point-connected rigid bodies in a topological tree , 1975 .

[17]  S. Dubowsky,et al.  Design and Analysis of Multilink Flexible Mechanisms With Multiple Clearance Connections , 1977 .

[18]  Milton A. Chace,et al.  Development and Application of a Generalized d’Alembert Force for Multifreedom Mechanical Systems , 1971 .

[19]  A. T. Yang.  Inertia Force Analysis of Spatial Mechanisms , 1971 .

[20]  G. N. Sandor,et al.  A General Method for Kineto-Elastodynamic Analysis and Synthesis of Mechanisms , 1972 .

[21]  Edward J. Haug,et al.  Dynamic Analysis and Design of Constrained Mechanical Systems , 1981 .

[22]  R. Roberson.  A form of the translational dynamical equations for relative motion in systems of many non-rigid bodies , 1972 .