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A Recursive Driving Constraint Approach for Inverse Dynamics Modeling of Flexible Multibody Systems

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IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation

Part of the book series: IUTAM Bookseries ((IUTAMBOOK,volume 33))

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Abstract

In this chapter, a novel procedure for inverse dynamics modeling of flexible multibody systems using a driving constraints approach in the form of a forward dynamics analysis is presented. The flexible 3RPR parallel manipulator is chosen here as a flexible multibody system with closed kinematic chains to introduce this approach. The equations of motion are derived using the floating frame of reference formulation. Assuming a prescribed trajectory of the end-effector, the generalized coordinates of the rigid manipulator associated with the prismatic and revolute joints are obtained from an inverse kinematics analysis of the manipulator. This solution is further exploited in a forward dynamics analysis of the flexible manipulator to form the required driving constraints for obtaining the approximate values of the actuating forces and torques. Finally, the inverse dynamics analysis of the flexible manipulator is carried out by including some additional driving constraints associated with the generalized elastic coordinates to obtain the high-accuracy approximate values of the actuating forces and torques for tracking the prescribed trajectory by the end-effector. To numerically validate the approach, the obtained actuating forces and torques are applied to the simulated flexible manipulator to check the final trajectory of the end-effector. The results confirm the accuracy of the proposed approach.

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Authors and Affiliations

  1. Mechanical Engineering Department, Yazd University, Yazd, Iran

    Saeed Ebrahimi & Arman Mardani

Authors
  1. Saeed Ebrahimi
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  2. Arman Mardani
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Correspondence to Saeed Ebrahimi .

Editor information

Editors and Affiliations

  1. Institute of Mechanics, Bulgarian Academy of Sciences, Sofia, Bulgaria

    Evtim Zahariev

  2. Laboratory of Mechanical Engineering, University of La Coruña, Ferrol, Spain

    Javier Cuadrado

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Ebrahimi, S., Mardani, A. (2019). A Recursive Driving Constraint Approach for Inverse Dynamics Modeling of Flexible Multibody Systems. In: Zahariev, E., Cuadrado, J. (eds) IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation. IUTAM Bookseries, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-030-00527-6_4

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  • DOI: https://doi.org/10.1007/978-3-030-00527-6_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-00526-9

  • Online ISBN: 978-3-030-00527-6

  • eBook Packages: EngineeringEngineering (R0)

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