scholarly journals Flexible-Link Multibody System Eigenvalue Analysis Parameterized with Respect to Rigid-Body Motion

2019 ◽  
Vol 9 (23) ◽  
pp. 5156 ◽  
Author(s):  
Ilaria Palomba ◽  
Renato Vidoni
Keyword(s):  
Eigenvalue Problem ◽  
Motion Planning ◽  
Modal Analysis ◽  
Multibody Systems ◽  
Multibody System ◽  
Differential Algebraic Equations ◽  
Flexible Multibody Systems ◽  
System Configuration ◽  
Modal Characteristics ◽  
Flexible Multibody

The dynamics of flexible multibody systems (FMBSs) is governed by ordinary differential equations or differential-algebraic equations, depending on the modeling approach chosen. In both the cases, the resulting models are highly nonlinear. Thus, they are not directly suitable for the application of the modal analysis and the development of modal models, which are very useful for several advanced engineering techniques (e.g., motion planning, control, and stability analysis of flexible multibody systems). To define and solve an eigenvalue problem for FMBSs, the system dynamics has to be linearized about a selected configuration. However, as modal parameters vary nonlinearly with the system configuration, they should be recomputed for each change of the operating point. This procedure is computationally demanding. Additionally, it does not provide any numerical or analytical correlation between the eigenpairs computed in the different operating points. This paper discusses a parametric modal analysis approach for FMBSs, which allows to derive an analytical polynomial expression for the eigenpairs as function of the system configuration, by solving a single eigenvalue problem and using only matrix operations. The availability of a similar modal model, which explicitly depends on the system configuration, can be very helpful for, e.g., model-based motion planning and control strategies towards to zero residual vibration employing the system modal characteristics. Moreover, it allows for an easy sensitivity analysis of modal characteristics to parameter uncertainties. After the theoretical development, the method is applied and validated on a flexible multibody system, specifically using the Equivalent Rigid Link System dynamic formulation. Finally, numerical results are presented and discussed.

Modeling of Revolute Joints in Topology Optimization of Flexible Multibody Systems

2016 ◽  
Vol 12 (1) ◽  
Author(s):  
Ali Moghadasi ◽  
Alexander Held ◽  
Robert Seifried
Keyword(s):  
Topology Optimization ◽  
Multibody Systems ◽  
Multibody System ◽  
Order Reduction ◽  
Flexible Multibody Systems ◽  
Hertzian Contact ◽  
Revolute Joints ◽  
Nonlinear Finite Elements ◽  
Flexible Multibody ◽  
Hertzian Contact Law

In recent years, topology optimization has been used for optimizing members of flexible multibody systems to enhance their performance. Here, an extension to existing topology optimization schemes for flexible multibody systems is presented in which a more accurate model of revolute joints and bearing domains is included. This extension is of special interest since a connection between flexible members in a multibody system using revolute joints is seen in many applications. Moreover, the modeling accuracy of the bearing area is shown to be influential on the shape of the optimized structure. In this work, the flexible bodies are incorporated in the multibody simulation using the floating frame of reference formulation, and their elastic deformation is approximated using global shape functions calculated in the model order reduction analysis. The modeling of revolute joints using Hertzian contact law is incorporated in this framework by introducing a corrector load in the bearing model. Furthermore, an application example of a flexible multibody system with revolute joints is optimized for minimum value of compliance, and a comparative study of the optimization result is performed with an equivalent system which is modeled with nonlinear finite elements.

Dynamics Study and Sensitivity Analysis of Flexible Multibody Systems With Interval Parameters

2016 ◽  
Author(s):  
Wang Zhe ◽  
Qiang Tian ◽  
Hiayan Hu
Keyword(s):  
Sensitivity Analysis ◽  
Surrogate Model ◽  
Multibody Systems ◽  
Differential Algebraic Equations ◽  
Flexible Multibody Systems ◽  
Computational Time ◽  
Interval Parameters ◽  
Computation Efficiency ◽  
Sensitivity Equations ◽  
Flexible Multibody

The dynamics of flexible multibody systems with interval parameters is studied based on a non-intrusive computation methodology. The Absolute Nodal Coordinate Formulation (ANCF) is used to model the rigid-flexible multibody system, including the finite elements of the ANCF and the ANCF Reference Nodes (ANCF-RNs). The Chebyshev sampling methods including Chebyshev tensor product (CTP) sampling method and Chebyshev collocation method (CCM), are utilized to generate the Chebyshev surrogate model for Interval Differential Algebraic Equations (IDAEs). For purpose of preventing the interval explosion problem and maintaining computation efficiency, the interval bounds of the IDAEs are determined by scanning the deduced Chebyshev surrogate model. To further improve the computation efficiency, OpenMP directives are also used to parallelize the solving process of the Differential Algebraic Equations (DAEs) by fixing the uncertain interval parameter at the given sampling points. The sensitivity analysis of flexible multibody systems with interval parameters is initially performed by using the direct differentiation method. The direct differentiation method differentiates the dynamic equations with respect to the design variable, which yields the system sensitivity equations governed by DAEs. The generalized alpha method is introduced to integrate the sensitivity DAEs. The sensitivity equations of flexible multibody systems with interval parameters are also described by the IDAEs. Based on the continuum mechanics, the computational efficient analytical formulations for the derivative items of the system sensitivity equations are deduced. Three examples are studied to validate the proposed methodology, including the complicated spatial rigid-flexible multibody systems with a large number of uncertain interval parameters, the flexible system with uncertain interval clearance size joint, and the first order sensitivity analysis of flexible multibody systems with interval parameters. Firstly, the dynamics analysis of a six-arm space robot with six interval parameters is performed. For this case study, the interval dynamics cannot be obtained by directly scanning the IDAEs because extremely huge sets of DAEs with deterministic samples have to be solved. The estimated total computational time for solving the scanned IDAEs will be 1850 days! However, the computational time for solving the scanned Chebyshev surrogate model is 9796.97 seconds. It shows the effectiveness of the proposed computation methodology. Then, the nonlinear dynamics of a planar slider-crank mechanism with uncertain interval clearance size joint is studied in this work. The kinetics model of the revolute clearance joints is formulated under the ANCF-RN framework. Moreover, the influence of the LuGre and the modified Coulomb’s friction force models on the system’s dynamic response is investigated. By analyzing the bounds of dynamic response, the bifurcation diagrams are observed. It must be highlighted that with increasing the size of clearance, it does not automatically lead to unstable behaviors. Finally, the first order sensitivity analysis of flexible multibody systems with interval parameters is also studied in this work. The third one of a flexible mechanism with interval parameters is used to perform the sensitivity analysis.

Approximate End-Effector Tracking Control of Flexible Multibody Systems Using Singular Perturbations

2013 ◽  
Vol 9 (1) ◽  
Author(s):  
Thomas Gorius ◽  
Robert Seifried ◽  
Peter Eberhard
Keyword(s):  
Tracking Control ◽  
Multibody Systems ◽  
Degrees Of Freedom ◽  
Multibody System ◽  
Feedforward Control ◽  
Flexible Multibody Systems ◽  
Flexible Manipulator ◽  
End Effector ◽  
Nonminimum Phase ◽  
Flexible Multibody

In many cases, the design of a tracking controller can be significantly simplified by the use of a 2-degrees of freedom (DOF) control structure, including a feedforward control (i.e., the inversion of the nominal system dynamics). Unfortunately, the computation of this feedforward control is not easy if the system is nonminimum-phase. Important examples of such systems are flexible multibody systems, such as lightweight manipulators. There are several approaches to the numerical computation of the exact inversion of a flexible multibody system. In this paper, the singularly perturbed form of such mechanical systems is used to give a semianalytic solution to the tracking control design. The control makes the end-effector to even though not exactly, but approximately track a certain trajectory. Thereby, the control signal is computed as a series expansion in terms of an overall flexibility of the bodies of the multibody system. Due to the use of symbolic computations, the main calculations are independent of given parameters (e.g., the desired trajectories), such that the feedforward control can be calculated online. The effectiveness of this approach is shown by the simulation of a two-link flexible manipulator.

A Novel Approach to Real-Time Flexible Multibody Simulation: Sub-System Global Modal Parameterization

2011 ◽  
Author(s):  
Frank Naets ◽  
Gert H. K. Heirman ◽  
Wim Desmet
Keyword(s):  
Model Reduction ◽  
Real Time ◽  
Relative Motion ◽  
Multibody Systems ◽  
Differential Algebraic Equations ◽  
Flexible Multibody Systems ◽  
System Level ◽  
Algebraic Equations ◽  
Global Modal Parameterization ◽  
Flexible Multibody

This paper introduces a novel model reduction technique, namely Sub-System Global Modal Parameterization (SS-GMP), for real-time simulation of flexible multibody systems. In the past, other system-level model reduction techniques have been proposed for this purpose, but these were limited in applicability due to the large storage requirements for systems with many rigid degrees-of-freedom (DOFs). However, in the SS-GMP approach, the motion of a mechanism is split up into a global motion and a relative motion of the (sub-)system. The relative motion is then reduced according to the Global Modal Parameterization, which is a model reduction procedure suitable for closed chain flexible multibody systems. In combination with suitable explicit solvers, the SS-GMP approach enables (hard) real-time simulations due to the strong reduction in the number of DOFs and the conversion of a system of differential-algebraic equations into a system of ordinary differential equations. The proposed approach is validated numerically with a quarter-car model. This fully flexible mechanism is simulated faster than real-time on a regular PC with the SS-GMP approach while providing accurate results.

Aspects of Symbolic Formulations in Flexible Multibody Systems

2014 ◽  
Vol 9 (4) ◽  
Author(s):  
Markus Burkhardt ◽  
Robert Seifried ◽  
Peter Eberhard
Keyword(s):  
Multibody Systems ◽  
Multibody System ◽  
Dynamic Properties ◽  
Equations Of Motion ◽  
Flexible Multibody Systems ◽  
Fem Model ◽  
Local Shape ◽  
Flexible Bodies ◽  
Elastic Bodies ◽  
Flexible Multibody

The symbolic modeling of flexible multibody systems is a challenging task. This is especially the case for complex-shaped elastic bodies, which are described by a numerical model, e.g., an FEM model. The kinematic and dynamic properties of the flexible body are in this case numerical and the elastic deformations are described with a certain number of local shape functions, which results in a large amount of data that have to be handled. Both attributes do not suggest the usage of symbolic tools to model a flexible multibody system. Nevertheless, there are several symbolic multibody codes that can treat flexible multibody systems in a very efficient way. In this paper, we present some of the modifications of the symbolic research code Neweul-M2 which are needed to support flexible bodies. On the basis of these modifications, the mentioned restrictions due to the numerical flexible bodies can be eliminated. Furthermore, it is possible to re-establish the symbolic character of the created equations of motion even in the presence of these solely numerical flexible bodies.

On the modal analysis of flexible multibody systems with singular mass and stiffness matrices

PAMM ◽  
2018 ◽  
Vol 18 (1) ◽  
Author(s):  
Christian Hente ◽  
Cristian G. Gebhardt ◽  
Benedikt Hofmeister ◽  
Raimund Rolfes
Keyword(s):  
Modal Analysis ◽  
Multibody Systems ◽  
Flexible Multibody Systems ◽  
Stiffness Matrices ◽  
Flexible Multibody

A Recursive Algorithm for Solving the Generalized Velocities From the Momenta of Flexible Multibody Systems

2008 ◽  
Author(s):  
Martin M. Tong
Keyword(s):  
Numerical Solution ◽  
Multibody Systems ◽  
Multibody System ◽  
Recursive Algorithm ◽  
Mass Matrix ◽  
Direct Methods ◽  
Flexible Multibody Systems ◽  
Hamiltonian Form ◽  
Generalized Coordinates ◽  
Flexible Multibody

The computation of the generalized velocities from the generalized momenta of a multibody system is a part of the numerical solution of the dynamics equations when they are given in the Hamiltonian form. The states of these equations are the generalized coordinates and momenta, (q, p). The generalized velocity, q˙, is defined by q˙ = J−1p, where J is the system mass matrix. The effort in solving q˙ by direct methods is order(N3) where N is the number of bodies in the system. This paper presents an order(N) recursive algorithm to compute q˙ for flexible multibody systems.

Modal analysis of active flexible multibody systems

2011 ◽  
Vol 89 (9-10) ◽  
pp. 750-761 ◽  
Author(s):  
Magne Bratland ◽  
Bjørn Haugen ◽  
Terje Rølvåg
Keyword(s):  
Modal Analysis ◽  
Multibody Systems ◽  
Flexible Multibody Systems ◽  
Flexible Multibody

Servo-Constraints for Control of Flexible Multibody Systems With Contact

2013 ◽  
Author(s):  
Robert Seifried ◽  
Markus Burkhardt
Keyword(s):  
Numerical Solution ◽  
Multibody Systems ◽  
Differential Algebraic Equations ◽  
Inverse Model ◽  
Flexible Multibody Systems ◽  
Algebraic Equations ◽  
Internal Dynamics ◽  
End Effector ◽  
Flexible Multibody ◽  
Servo Constraints

This paper presents inversion based feedforward control design for flexible multibody systems with kinematic loops and end-effector contact. The inverse model provides for a given desired output trajectories, e.g. end-effector point and contact force, the required control inputs for exact output reproduction. A very appealing and efficient model inversion approach for such multibody systems is the use of so-called servo-constraints. These can be seen as an extension of classical mechanical constraints and yield a set of differential-algebraic equations. This allows an efficient numerical solution without burdensome symbolic manipulations. In addition, the use of servo-constraints allows the straight-forward treatment of flexible multibody systems with various topologies. The arising set of differential-algebraic equations describes the inverse model. The inverse model might be purely algebraic or include a dynamical part, which is called internal dynamics in nonlinear control theory. For its numerical solution it is advisable to transform the set of differential-algebraic equations to its underlying set of ordinary differential equations. The solution method for this internal dynamics depends then on its stability. For systems with unstable internal dynamics, as considered in this paper, a solution can be computed from a boundary-value problem. The efficiency of this approach is demonstrated for a flexible multibody system with a kinematic loop and a closed end-effector contact.

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