Dynamics of Flexible Beams and Plates in Large Overall Motions

1992 ◽  
Vol 59 (4) ◽  
pp. 991-999 ◽  
Author(s):  
Z. E. Boutaghou ◽  
Arthur G. Erdman ◽  
Henryk K. Stolarski
Keyword(s):  
Dynamic Response ◽  
Nonlinear Interaction ◽  
Multibody Systems ◽  
Present Theory ◽  
Rigid Body Dynamics ◽  
Flexible Beams ◽  
Constrained Multibody Systems ◽  
Dynamic Stiffening ◽  
Body Dynamics ◽  
Arbitrary Representation

The dynamic response of flexible beams, plates, and solids undergoing arbitrary spatial motions are systematically derived via a proposed approach. This formulation is capable of incorporating arbitrary representation of the kinematics of deformation, phenomenon of dynamic stiffening, and complete nonlinear interaction between elastic and rigid-body dynamics encountered in constrained multibody systems. It is shown that the present theory captures the phenomenon of dynamic stiffening due to the transfer of the axial and membrane forces to the bending equations of beams and plates, respectively. Examples are presented to illustrate the proposed formulations.

Dynamics of Flexible Beams and Plates Under Large Overall Motions

1991 ◽  
Author(s):  
Z.-E. Boutaghou ◽  
A. G. Erdman ◽  
H. K. Stolarski
Keyword(s):  
Dynamic Response ◽  
Nonlinear Interaction ◽  
Present Theory ◽  
Rigid Body Dynamics ◽  
Unified Approach ◽  
Flexible Beams ◽  
Dynamic Stiffening ◽  
Body Dynamics ◽  
Arbitrary Representation ◽  
Multi Body

Abstract The dynamic response of flexible beams, plates, and solids undergoing arbitrary spatial motions are systematically derived via a unified approach. This formulation is capable of incorporating arbitrary representation of the kinematics of deformation, phenomenon of dynamic stiffening, and complete nonlinear interaction between elastic- and rigid-body dynamics encountered in constrained multi-body systems. It is shown that the present theory captures the phenomenon of dynamic stiffening due to the transfer of the axial and membrane forces to the bending equations of beams and plates, respectively. Examples are presented to illustrate the proposed formulations.

Modeling and Simulation of Assembly in a Free-floating Work Environment by a Free-floating Robot

1996 ◽  
Vol 118 (1) ◽  
pp. 115-120 ◽  
Author(s):  
S. K. Agrawal ◽  
M. Y. Chen ◽  
M. Annapragada
Keyword(s):  
Angular Momentum ◽  
Work Environment ◽  
Multibody Systems ◽  
Rigid Body Dynamics ◽  
Analytical Models ◽  
Impact Dynamics ◽  
Dynamics Of Multibody Systems ◽  
Body Dynamics ◽  
Freely Moving ◽  
Self Motion

Freely moving systems in space conserve linear and angular momentum. As moving systems collide, the velocities get altered due to transfer of momentum. The development of strategies for assembly in a free-floating work environment requires a good understanding of primitives such as self motion of the robot, propulsion of the robot due to onboard thrusters, docking of the robot, retrieval of an object from a collection of objects, and release of an object in an object pool. The analytics of such assemblies involves not only kinematics and rigid body dynamics but also collision and impact dynamics of multibody systems. This paper presents analytical models of assembly, built from the models of primitives, and some possible strategies for overall assembly.

Bond Graphs for Flexible Multibody Systems

1979 ◽  
Vol 101 (1) ◽  
pp. 50-57 ◽  
Author(s):  
D. L. Margolis ◽  
D. C. Karnopp
Keyword(s):  
Rigid Body ◽  
Multibody Systems ◽  
Rigid Body Dynamics ◽  
Bond Graphs ◽  
Flexible Bodies ◽  
Actuator Dynamics ◽  
Bending Mode ◽  
Body Dynamics ◽  
Rigid Body Modes ◽  
Bending Modes

A method is presented for the analysis and simulation of the dynamic response of systems containing several long, flexible bodies driven by actuators at joints and attachment points. Applications include remote manipulators, cranes, and complex spacecraft. The geometric nonlinearities of rigid body dynamics are retained as well as small bending mode vibrations based upon linearized analysis. Since bond graphs are used, the actuator dynamics are readily incorporated. The results of simulation of a two body system with electrical actuators and up to three bending modes per body in addition to the rigid body modes are shown.

On Singularity of Rigid-Body Dynamics Using Quaternion-Based Models

2012 ◽  
Vol 79 (2) ◽  
Author(s):  
Homin Choi ◽  
Bingen Yang
Keyword(s):  
Dynamic Response ◽  
Rigid Body ◽  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Rigid Bodies ◽  
Rigid Body Dynamics ◽  
The Body ◽  
Applied Torque ◽  
Body Dynamics

It is well known that use of quaternions in dynamic modeling of rigid bodies can avoid the singularity due to Euler rotations. This paper shows that the dynamic response of a rigid body modeled by quaternions may become unbounded when a torque is applied to the body. A theorem is derived, relating the singularity to the axes of the rotation and applied torque, and to the degrees of freedom of the body in rotation. To avoid such singularity, a method of equivalent couples is proposed.

scholarly journals Slipping–rolling transitions of a body with two contact points

2021 ◽  
Author(s):  
Mate Antali ◽  
Gabor Stepan
Keyword(s):  
Rigid Body ◽  
Contact Point ◽  
Static Friction ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Friction Forces ◽  
Contact Points ◽  
Body Dynamics ◽  
Coulomb Model ◽  
Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

Time-Accurate Simulation of Longitudinal Flight Mechanics with Control by CFD/RBD Coupling

2012 ◽  
Vol 226-228 ◽  
pp. 788-792 ◽  
Author(s):  
Dong Guo ◽  
Min Xu ◽  
Shi Lu Chen
Keyword(s):  
Computational Study ◽  
Rigid Motion ◽  
Rigid Body Dynamics ◽  
Flight Mechanics ◽  
Control Surface ◽  
Free Flight ◽  
Body Dynamics ◽  
Computational Fluid Dynamics Cfd ◽  
Coupled Solution ◽  
Surface Deflections

This paper describes a multidisciplinary computational study undertaken to compute the flight trajectories and simultaneously predict the unsteady free flight aerodynamics of aircraft in time domain using an advanced coupled computational fluid dynamics (CFD)/rigid body dynamics (RBD) technique. This incorporation of the flight mechanics equations and controller into the CFD solver loop and the treatment of the mesh, which must move with both the control surface deflections and the rigid motion of the aircraft, are illustrated. This work is a contribution to a wider effort towards the simulation of aeroelastic and flight stability in regions where nonlinear aerodynamics, and hence potentially CFD, can play a key role. Results demonstrating the coupled solution are presented.

New solutions of classical problems in rigid body dynamics

2015 ◽  
Vol 69 ◽  
pp. 40-44
Author(s):  
H.M. Yehia ◽  
E. Saleh ◽  
S.F. Megahid
Keyword(s):  
Rigid Body ◽  
Rigid Body Dynamics ◽  
Body Dynamics

scholarly journals Dynamic response analysis for multi-degrees-of-freedom parallel mechanisms with various types of three-dimensional clearance joints

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110177
Author(s):  
Jia Yonghao ◽  
Chen Xiulong
Keyword(s):  
Dynamic Response ◽  
Multibody Systems ◽  
Parallel Mechanism ◽  
Three Dimensional ◽  
Response Analysis ◽  
Parallel Mechanisms ◽  
Dynamics Model ◽  
Clearance Joints ◽  
Clearance Joint ◽  
Spatial Parallel Mechanism

For spatial multibody systems, the dynamic equations of multibody systems with compound clearance joints have a high level of nonlinearity. The coupling between different types of clearance joints may lead to abundant dynamic behavior. At present, the dynamic response analysis of the spatial parallel mechanism considering the three-dimensional (3D) compound clearance joint has not been reported. This work proposes a modeling method to investigate the influence of the 3D compound clearance joint on the dynamics characteristics of the spatial parallel mechanism. For this purpose, 3D kinematic models of spherical clearance joint and revolute joint with radial and axial clearances are derived. Contact force is described as normal contact and tangential friction and later introduced into the nonlinear dynamics model, which is established by the Lagrange multiplier technique and Jacobian of constraint matrix. The influences of compound clearance joint and initial misalignment of bearing axes on the system are analyzed. Furthermore, validation of dynamics model is evaluated by ADAMS and Newton–Euler method. This work provides an essential theoretical basis for studying the influences of 3D clearance joints on dynamic responses and nonlinear behavior of parallel mechanisms.

scholarly journals In Silico Single-Molecule Manipulation of DNA with Rigid Body Dynamics

2014 ◽  
Vol 10 (2) ◽  
pp. e1003456 ◽  
Author(s):  
Pascal Carrivain ◽  
Maria Barbi ◽  
Jean-Marc Victor
Keyword(s):  
Rigid Body ◽  
Single Molecule ◽  
In Silico ◽  
Rigid Body Dynamics ◽  
Body Dynamics ◽  
Single Molecule Manipulation
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