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 | |
| 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 |
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ASJC Scopus subject areas
- Mechanical Engineering
- Computer Graphics and Computer-Aided Design
- Computer Science Applications
- Modeling and Simulation
Cite this
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
}
TY - GEN
T1 - Dynamics and control of multi-flexible-body systems in a divide-and-conquer scheme
AU - Khan, Imad M.
AU - Addepalli, Kalyan C.
AU - Poursina, Mohammad
PY - 2015
Y1 - 2015
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84982099523&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84982099523&partnerID=8YFLogxK
U2 - 10.1115/DETC2015-47264
DO - 10.1115/DETC2015-47264
M3 - Conference contribution
AN - SCOPUS:84982099523
VL - 6
BT - 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
PB - American Society of Mechanical Engineers (ASME)
ER -