A Variational Principle for the Elastodynamic Motion of Planar Linkages

1976 ◽  
Vol 98 (4) ◽  
pp. 1306-1312 ◽  
Author(s):  
B. S. Thompson ◽  
A. D. S. Barr
Keyword(s):  
Variational Principle ◽  
Equations Of Motion ◽  
Problem Definition ◽  
Compatibility Conditions ◽  
Elastic Deformations ◽  
Rigid Body Motions ◽  
Planar Linkages ◽  
Crank Mechanism ◽  
Approximate Equations ◽  
Motion Boundary

A variational principle is presented that may be used for setting up the equations describing the elastodynamic motion of planar linkages in which all the members are considered to be flexible. These systems are modeled as a set of continua in which elastic deformations are superimposed on gross rigid-body motions. Displacement continuity at pin joints, or any other special constraints that are peculiar to the linkage being analyzed, are incorporated by the use of Lagrange multipliers. By permitting independent variations of the stress, strain, displacement, and velocity parameters for each link approximate equations of motion, boundary and compatibility conditions for the complete mechanism may be systematically constructed. As an illustrative example, the derivation of the problem definition for a flexible slider-crank mechanism is given.

A Variational Principle for the Hygrothermoelastodynamic Analysis of Mechanism Systems

1987 ◽  
Vol 109 (3) ◽  
pp. 294-300 ◽  
Author(s):  
C. K. Sung ◽  
B. S. Thompson
Keyword(s):  
High Speed ◽  
High Performance ◽  
Fibrous Composite ◽  
Equations Of Motion ◽  
Problem Definition ◽  
Theoretical Development ◽  
Connecting Rod ◽  
Rigid Body Motions ◽  
Crank Mechanism ◽  
Approximate Equations

A variational theorem is presented that may be employed for systematically establishing the equations governing the dynamic response of flexible planar linkage mechanisms simultaneously subjected to both mechanical and hygrothermal loadings. This theoretical development is motivated by recent research advocating that high-speed mechanisms should be fabricated in polymeric fibrous composite materials in order to achieve high-performance characteristics. The constitutive behavior of some of these materials is, however, dependent upon the ambient environmental conditions, and hence mathematical models must be developed in order to predict the response of mechanism systems fabricated with these materials. This class of mechanism systems is modeled herein as a set of continua in which elastic deformations are superimposed upon gross rigid-body motions. By permitting arbitrary independent variations of the system parameters for each link, approximate equations of motion, energy balance, mass balance, and boundary conditions may be systematically constructed. As an illustrative example, the derivation of a problem definition for the flexible connecting-rod of a slider-crank mechanism subjected to hygrothermal loading is presented.

A Variational Principle for the Linear Coupled Thermoelastodynamic Analysis of Mechanism Systems

1984 ◽  
Vol 106 (3) ◽  
pp. 291-296 ◽  
Author(s):  
C. K. Sung ◽  
B. S. Thompson ◽  
J. J. McGrath
Keyword(s):  
Variational Principle ◽  
Thermal Loading ◽  
Equations Of Motion ◽  
Problem Definition ◽  
Connecting Rod ◽  
Thermoelastic Response ◽  
Flexible Mechanism ◽  
Anisotropic Elastic ◽  
Definition Of ◽  
Approximate Equations

A variational principle is presented which provides the basis for developing the equations governing the coupled thermoelastic response of planar flexible mechanism systems subjected to both mechanical and thermal loading. These systems are modeled as chains of continua with anisotropic elastic constitutive equations. By permitting arbitrary independent variations of the system parameters for each link, approximate equations of motion and boundary conditions may be systematically constructed. As an illustrative example, the derivation of the problem definition of a flexible connecting rod of a slider crank mechanism subjected to thermal shock is presented.

MULTIBODY DYNAMIC MODELING AND FLUTTER ANALYSIS OF A FLEXIBLE SLENDER VEHICLE

2012 ◽  
Vol 12 (06) ◽  
pp. 1250049 ◽  
Author(s):  
A. RASTI ◽  
S. A. FAZELZADEH
Keyword(s):  
Differential Equations ◽  
Rigid Body ◽  
Dynamic Modeling ◽  
Equations Of Motion ◽  
The Body ◽  
Elastic Deformations ◽  
Strip Theory ◽  
Multibody Dynamic ◽  
Flutter Analysis ◽  
Rigid Body Motions

In this paper, multibody dynamic modeling and flutter analysis of a flexible slender vehicle are investigated. The method is a comprehensive procedure based on the hybrid equations of motion in terms of quasi-coordinates. The equations consist of ordinary differential equations for the rigid body motions of the vehicle and partial differential equations for the elastic deformations of the flexible components of the vehicle. These equations are naturally nonlinear, but to avoid high nonlinearity of equations the elastic displacements are assumed to be small so that the equations of motion can be linearized. For the aeroelastic analysis a perturbation approach is used, by which the problem is divided into a nonlinear flight dynamics problem for quasi-rigid flight vehicle and a linear extended aeroelasticity problem for the elastic deformations and perturbations in the rigid body motions. In this manner, the trim values that are obtained from the first problem are used as an input to the second problem. The body of the vehicle is modeled with a uniform free–free beam and the aeroelastic forces are derived from the strip theory. The effect of some crucial geometric and physical parameters and the acting forces on the flutter speed and frequency of the vehicle are investigated.

The Use of Vector Techniques in Variational Problems

1986 ◽  
Vol 108 (2) ◽  
pp. 141-145 ◽  
Author(s):  
L. J. Everett ◽  
M. McDermott
Keyword(s):  
Rigid Body ◽  
Equations Of Motion ◽  
Variational Problems ◽  
Double Pendulum ◽  
Coordinate Transformations ◽  
Elastic Deformations ◽  
Variational Techniques ◽  
Convenient Means ◽  
Moving Coordinate ◽  
Rigid Body Motions

A convenient means for applying vector mathematics to variational problems is presented. The total and relative variations of a vector are defined and results which follow from these definitions are developed and proved. These results are then used to express the variation of a functional using vector techniques rather than the classical scalar or matrix techniques. The simple problems of deriving equations of motion for a rigid body and for a rigid double pendulum are presented as examples of the technique. The key advantages of the method are that (1) it allows the investigator who is familiar and proficient with vector techniques to apply these skills to variational problems and (2) it greatly simplifies the application of variational techniques to problems which include both rigid body motions and elastic deformations. This is accomplished by providing the techniques necessary for computing the variation of a vector defined in a moving coordinate system without using coordinate transformations.

Nonlinear Effects in Dynamic Analysis of Flexible Multibody Systems

2001 ◽  
Author(s):  
Y. C. Mbono Samba ◽  
M. Pascal
Keyword(s):  
Rigid Body ◽  
Standard Method ◽  
Multibody Systems ◽  
Nonlinear Effects ◽  
Elastic Deformations ◽  
Dynamics Of Multibody Systems ◽  
Flexible Parts ◽  
Order Of Magnitude ◽  
Rigid Body Motions ◽  
Crank Mechanism

Abstract The work is concerned with the dynamics of multibody systems with flexible parts undergoing large rigid body motions and small elastic deformations. The standard method used in most cases leads to keep only linear terms with respect to the deformations. However, for large rates or large accelerations, this linearisation is sometimes too premature. In this work, a non dimensional analysis of the system is performed, with some estimate about the order of magnitude of the different parameters occuring in the dynamical model obtained by Kane’s method [1]. A flexible slider crank mechanism is used as a test example, together with AUTOLEV [2] software for numerical results.

Large-Displacement Finite Element Analysis of Flexible Linkages

1990 ◽  
Vol 112 (2) ◽  
pp. 175-182 ◽  
Author(s):  
Zhijia Yang ◽  
J. P. Sadler
Keyword(s):  
Finite Element ◽  
Equations Of Motion ◽  
Element Model ◽  
Dynamic Equations ◽  
Model Formulation ◽  
Element Analysis ◽  
Elastic Deformations ◽  
Beam Elements ◽  
Input Motion ◽  
Planar Linkages

A finite element model is derived for flexible planar linkages, treating the total mechanism displacements as the primary unknowns in the dynamic equations of motion. These displacements consist of the combination of large rigid-body mechanism motion and small elastic deformations. Beam elements are used in the model formulation. The resulting nonlinear equations can be solved under conditions of either specified input motion of the mechanism or specified input forcing functions. In either case, the differential equations are integrated numerically. Illustrative examples are presented, and comparisons are made with results of previous investigators and with results from a commercial finite element code.

scholarly journals Large elastic deformations of isotropic materials IV. further developments of the general theory

1948 ◽  
Vol 241 (835) ◽  
pp. 379-397 ◽  
Keyword(s):  
Energy Function ◽  
Equations Of Motion ◽  
Incompressible Material ◽  
Surface Forces ◽  
Stored Energy ◽  
Elastic Deformations ◽  
Incompressible Materials ◽  
Scalar Invariants ◽  
Compressible Materials ◽  
Motion Boundary

The equations of motion, boundary conditions and stress-strain relations for a highly elastic material can be expressed in terms of the stored-energy function. This has been done in part I of this series (Rivlin 1948 a ), for both the cases of compressible and incompressible materials, following the methods given by E. & F. Cosserat for compressible materials. The stored-energy function may be defined for a particular material in terms of the invariants of strain. The form in which the equations of motion, etc., are deduced, in the previous paper, does not permit the evaluation of the forces necessary to produce a specified deformation unless the actual expression for the stored-energy function in terms of the scalar invariants of the strain is introduced. In the present paper, the equations are transformed into forms more suitable for carrying out such an explicit evaluation. As examples, the surface forces necessary to produce simple shear in a cuboid of either compressible or incompressible material and those required to produce simple torsion in a right-circular cylinder of incompressible material are derived.

Stability of Motion of Elastic Planar Linkages With Application to Slider Crank Mechanism

1982 ◽  
Vol 104 (4) ◽  
pp. 698-703 ◽  
Author(s):  
I. G. Tadjbakhsh
Keyword(s):  
Steady State ◽  
Equations Of Motion ◽  
Steady State Solution ◽  
Critical Values ◽  
Length Ratio ◽  
Viscous Damping ◽  
Stability Of Motion ◽  
Start Up ◽  
Planar Linkages ◽  
Crank Mechanism

The problem of stability of motion of elastic planar linkages is considered in the context of the classical Euler-Bernoulli equations of motion. The case of slider-crank mechanism is considered in detail and the critical values of the dimensionless parameters measuring slenderness, speed, and length ratio which may cause instability are determined. The start-up and the steady-state solution of the mechanism without viscous damping and the effects of flexibility on piston force and efficiency is evaluated.

Modeling and Dynamic Analysis of a Slider-Crank Mechanism With Flexible Coupler and Joint

1991 ◽  
Author(s):  
Junghsen Lieh ◽  
Imtiaz Haque
Keyword(s):  
Dynamic Analysis ◽  
Virtual Work ◽  
Equations Of Motion ◽  
Joint Stiffness ◽  
Mechanism Model ◽  
Double Frequency ◽  
Varying Coefficients ◽  
Matrix Expansion ◽  
Time Varying Coefficients ◽  
Crank Mechanism

Abstract Modeling and dynamic analysis of a slider-crank mechanism with flexible joint and coupler is presented. The equations of motion of the mechanism model are formulated using a virtual work multibody formalism and cast in terms of a minimum set of generalized coordinates through a Jacobian matrix expansion. Numerical results show the influence of time-varying coefficients on the mechanism dynamic behavior due to a repeated task. The results illustrate that the joint motion and coupler deformation are highly coupled. The joint response is dominated by double frequency of input, however, the coupler deformation is influenced by the same frequency as that of excitation. Increase in joint stiffness tends to decrease the variations in coupler deformation.

Investigation of Parametric Resonance Instability in a Flexible Rod Slider Crank Mechanism

1991 ◽  
Author(s):  
David G. Beale ◽  
Shyr-Wen Lee
Keyword(s):  
Potential Energy ◽  
Parametric Resonance ◽  
Variational Approach ◽  
Equations Of Motion ◽  
Monodromy Matrix ◽  
Bending Energy ◽  
Constrained Equations ◽  
Beam Bending ◽  
Floating Frame ◽  
Crank Mechanism

Abstract A direct variational approach with a floating frame is presented to derive the ordinary differential equations of motion of a flexible rod, constant crank speed slider crank mechanism. Potential energy terms contained in the derivation include beam bending energy and energy in foreshortening of the rod tip (which were selected because of the importance of these terms in a pinned-pinned rod parametric resonance). A symbolic manipulator code is used to reduce the constrained equations of motion to unconstrained nonlinear equations. A linearized version of these equations is used to explore parametric resonance stability-instability zones at low crank speeds and small deflections by a monodromy matrix technique.

Sign in / Sign up

Export Citation Format

Share Document