A Two-Step Algorithm for the Dynamic Reduction of Flexible Mechanisms

被引：2
|
作者：
Cammarata, A. [1 ]
Sinatra, R. [1 ]
Maddio, P. D. [1 ]
机构：
[1] Univ Catania, DICAR, Via S Sofia 64, I-95123 Catania, Italy
来源：
MECHANISM DESIGN FOR ROBOTICS | 2019年 / 66卷
关键词：
Modal reduction; IRS method; Dynamic condensation; Miller's expansion; STIFFNESS; MODEL;
D O I：
10.1007/978-3-030-00365-4_4
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A two-step algorithm for the dynamic reduction of flexible mechanisms inspired to the IRS method for structures is proposed. The classic Guyan-Iron condensation is first extended to multibody systems by introducing the joint compatibility equations in the equations of motion written in terms of slave and the new class joint-nodes. It is demonstrated that the joint-nodes augment the boundary-nodes, that form subset of nodes with independent displacements. Then, the Miller's expansion is combined with the extended Guyan-Iron reduction to build a two-step algorithm for the dynamic condensation of flexible multibody systems. Finally, a numerical example is studied to check the accuracy of the proposed method.
引用
收藏
页码：25 / 32
页数：8
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