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

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

doi:10.1115/DETC2015-47264

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

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

Aerospace and Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
Publisher	American Society of Mechanical Engineers (ASME)
Volume	6
ISBN (Electronic)	9780791857168
DOIs	https://doi.org/10.1115/DETC2015-47264
State	Published - 2015
Event	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States Duration: Aug 2 2015 → Aug 5 2015

Other

Other	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Country	United States
City	Boston
Period	8/2/15 → 8/5/15

ASJC Scopus subject areas

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

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Dynamics and control of multi-flexible-body systems in a divide-and-conquer scheme. / Khan, Imad M.; Addepalli, Kalyan C.; Poursina, Mohammad.

11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Vol. 6 American Society of Mechanical Engineers (ASME), 2015.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Khan, IM, Addepalli, KC & 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), ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015, Boston, United States, 8/2/15. https://doi.org/10.1115/DETC2015-47264

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AB - 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.

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Y2 - 2 August 2015 through 5 August 2015

ER -

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

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