In this paper, a novel formulation for modeling the vibration of spatial flexible mechanisms and robots is introduced. The formulation is based on the concepts of equivalent rigid-link system (ERLS) that allows kinematic equations of motion for the ERLS decoupled from the compatibility equations of the displacement at the joint to be written. With respect to the available literature, in which the ERLS concept has been proposed together with a finite element method (FEM) approach (ERLS-FEM), the formulation is extended in this paper through a modal approach and, in particular, a component mode synthesis technique which allows a reduced-order system of dynamic equations to be maintained even when a fine discretization is needed. The model is validated numerically by comparing it with the results obtained from the Adams-Flex™ software, which implements the well-known floating frame of reference approach for a benchmark L-shaped mechanism. A good agreement between the two models is shown.

Modeling the vibration of spatial flexible mechanisms through an equivalent rigid-link system/component mode synthesis approach

GALLINA, PAOLO;
2015

Abstract

In this paper, a novel formulation for modeling the vibration of spatial flexible mechanisms and robots is introduced. The formulation is based on the concepts of equivalent rigid-link system (ERLS) that allows kinematic equations of motion for the ERLS decoupled from the compatibility equations of the displacement at the joint to be written. With respect to the available literature, in which the ERLS concept has been proposed together with a finite element method (FEM) approach (ERLS-FEM), the formulation is extended in this paper through a modal approach and, in particular, a component mode synthesis technique which allows a reduced-order system of dynamic equations to be maintained even when a fine discretization is needed. The model is validated numerically by comparing it with the results obtained from the Adams-Flex™ software, which implements the well-known floating frame of reference approach for a benchmark L-shaped mechanism. A good agreement between the two models is shown.
File in questo prodotto:
File Dimensione Formato  
1077546315604495.pdf

non disponibili

Descrizione: pdf editoriale
Tipologia: Documento in Versione Editoriale
Licenza: Copyright Editore
Dimensione 707.3 kB
Formato Adobe PDF
707.3 kB Adobe PDF   Visualizza/Apri   Richiedi una copia
2892478_1077546315604495-PostPrint.pdf

accesso aperto

Descrizione: PostPrint VQR3
Tipologia: Bozza finale post-referaggio (post-print)
Licenza: Digital Rights Management non definito
Dimensione 1.29 MB
Formato Adobe PDF
1.29 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11368/2892478
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 17
  • ???jsp.display-item.citation.isi??? 9
social impact