Linearization of dynamic equations of flexible mechanisms - a finite element approach

Share/Save/Bookmark

Jonker, Ben (1991) Linearization of dynamic equations of flexible mechanisms - a finite element approach. International Journal for Numerical Methods in Engineering, 31 (7). pp. 1375-1392. ISSN 0029-5981

[img]
Preview
PDF
928Kb
Abstract:A finite element based method is presented for evaluation of linearized dynamic equations of flexible mechanisms about a nominal trajectory. The coefficient matrices of the linearized equations of motion are evaluated as explicit analytical expressions involving mixed sets of generalized co-ordinates of the mechanism with rigid links and deformation mode co-ordinates that characterize deformation of flexible link elements. This task is accomplished by employing the general framework of the geometric transfer function formalism. The proposed method is general in nature and can be applied to spatial mechanisms and manipulators having revolute and prismatic joints. The method also permits investigation of the dynamics of flexible rotors and spinning shafts. Application of the theory is illustrated through a detailed model development of a four-bar mechanism and the analysis of bending vibrations of two single link mechanisms in which the link is considered as a rotating flexible arm or as an unsymmetrical rotating shaft, respectively. The algorithm for the calculation of the matrix coefficients is directly emenable to numerical computation and has been incorporated into the linearization module of the computer program SPACAR.
Item Type:Article
Copyright:© 1991 Wiley InterScience
Faculty:
Engineering Technology (CTW)
Research Group:
Link to this item:http://purl.utwente.nl/publications/70940
Official URL:http://dx.doi.org/10.1002/nme.1620310710
Export this item as:BibTeX
EndNote
HTML Citation
Reference Manager

 

Repository Staff Only: item control page