Dynamics and control of multi-flexible-body systems in a divide-and-conquer scheme

Imad M. Khan, Kalyan C. Addepalli, Mohammad Poursina

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present an extension of the generalized divide-and-conquer algorithm (GDCA) for modeling constrained multi-flexible-body systems. The constraints of interest in this case are not the motion constraints or the presence of closed kinematic loops but those that arise due to inverse dynamics or control laws. The introductory GDCA paper introduced an efficient methodology to include generalized constraint forces in the handle equations of motion of the original divideand- conquer algorithm for rigid multibody systems. Here, the methodology is applied to flexible bodies connected by kinematic joints. We develop necessary equations that define the algorithm and present a well known numerical example to validate the method.

Original languageEnglish (US)
Title of host publication11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume6
ISBN (Electronic)9780791857168
DOIs
Publication statusPublished - 2015
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: Aug 2 2015Aug 5 2015

Other

OtherASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
CountryUnited States
CityBoston
Period8/2/158/5/15

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ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Khan, I. M., Addepalli, K. C., & Poursina, M. (2015). Dynamics and control of multi-flexible-body systems in a divide-and-conquer scheme. In 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (Vol. 6). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2015-47264