Modeling hybrid parameter multiple body systems: A different approach

DOI10.1016/0020-7462(94)00031-5MaRDI QIDQ1804476zbMATH OpenOpenAlexFDO

Authors Alan A. Barhorst, Louis J. Everett

Publication date 1 August 1996

Published in International Journal of Non-Linear Mechanics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0020-7462(94)00031-5

zbMATH Keywords

constrained-free subspaceflexible two-link planar manipulatorholonomic and nonholonomic constraintsNewton's methodvector algebra

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Vibrations in dynamical problems in solid mechanics (74H45)

Review text

The derivation of a general methodology for developing equations of motion for hybrid parameter multiple body (HPMB) systems is presented. A graph locates this approach in a ``tree road map of the general topic. The methodology is variational in nature, but uses vector algebra as a useful quality of Newton's method. The procedure is formulated in the system's constrained-free subspace of the configuration space, thus satisfying all holonomic and nonholonomic constraints automatically without the need to include Lagrange multipliers and constraint forces and generating a minimal set of hybrid equations with the boundary conditions. Two important aims are that ``a simple method may make it possible to bring HPMB modeling out of the academic domain and into use by product designers and that ``a simple (and ultimately, an automated) method will make it possible for researchers to rapidly regenerate models based on new continuum assumptions. The spatial dimensions of the continuum bodies are not restricted, and the inter-body connections are completely general. The method can be extended to higher-order continuum assumptions. Finally, the method is demonstrated on a flexible two-link planar manipulator.

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Cited in

(7)

• Application of the Coupled Discrete Element Modelling and Modelica Based Multi-body Dynamics in System-Level Modelling
• Modeling loose joints in elastic structures-variable structure motion model development
• On the Relation of Static to Dynamic Bifurcation in Nonlinear Autonomous Dissipative or Nondissipative Structural Systems
• scientific article; zbMATH DE number 1174827 (Why is no real title available?)
• Contact/Impact in Hybrid Parameter Multiple Body Mechanical Systems
• Systematic closed form modeling of hybrid parameter multiple body systems
• On the efficacy of pseudo-coordinates. I: Moving interior constraints

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