Abstract
In the present work the iterative Improved Reduced System technique (IRS) is extended to flexible mechanisms to include the joint constraints. Starting from the two-step method described in [1] by the same authors, we create an iterative method similar to the iterative IRS used in structural mechanics. Finally, the method is applied to a RSCR spatial mechanism to find the natural frequencies.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Cammarata, A., Sinatra, R., Maddio, P.: A two-step algorithm for the dynamic reduction of flexible mechanisms. In: IFToMM Symposium on Mechanism Design for Robotics, pp. 25–32. Springer (2018)
Guyan, R.J.: Reduction of stiffness and mass matrices. AIAA J. 3(2), 380 (1965)
Papadopoulos, M., Garcia, E.: Improvement in model reduction schemes using the system equivalent reduction expansion process. AIAA J. 34(10), 2217–2219 (1996)
Qu, Z.Q., Pannee, R.: Two-step methods for dynamic condensation. In: 19th AIAA Applied Aerodynamics Conference, p. 1230 (2001)
Kidder, R.L.: Reduction of structural frequency equations. AIAA J. 11(6), 892–892 (1973)
Miller, C.A.: Dynamic reduction of structural models. J. Struct. Div. 106(10), 2097–2108 (1980)
Sauer, G.: Iterative improvement of eigensolutions from reduced matrices. Commun. Appl. Numer. Methods 5(5), 329–335 (1989)
Blair, M.A., Camino, T.S., Dickens, J.M.: An iterative approach to a reduced mass matrix. In: 9th Conference International Modal Analysis Conference (IMAC), vol. 1, pp. 621–626 (1991)
Friswell, M., Garvey, S., Penny, J.: Model reduction using dynamic and iterated IRS techniques. J. Sound Vib. 186(2), 311–323 (1995)
Xia, Y., Lin, R.: Improvement on the iterated IRS method for structural eigensolutions. J. Sound Vib. 270(4–5), 713–727 (2004)
Choi, D., Kim, H., Cho, M.: Iterative method for dynamic condensation combined with substructuring scheme. J. Sound Vib. 317(1–2), 199–218 (2008)
Weng, S., Xia, Y., Xu, Y.L., Zhu, H.P.: An iterative substructuring approach to the calculation of eigensolution and eigensensitivity. J. Sound Vib. 330(14), 3368–3380 (2011)
Weng, S., et al.: Dynamic condensation approach to calculation of structural responses and response sensitivities. Mech. Syst. Signal Process. 88, 302–317 (2017)
Klimchik, A., Pashkevich, A., Chablat, D.: Fundamentals of manipulator stiffness modeling using matrix structural analysis. Mech. Mach. Theory 133, 365–394 (2019)
Cammarata, A.: Unified formulation for the stiffness analysis of spatial mechanisms. Mech. Mach. Theory 105, 272–284 (2016)
O’Callahan, J.C.: A procedure for an improved reduced system (IRS) model. In: Proceedings of the 7th International Modal Analysis Conference, vol. 1, pp. 17–21, Las Vegas (1989)
De Jalon, J.G., Bayo, E.: Kinematic and Dynamic Simulation of Multibody Systems: The Real-time Challenge. Springer, New York (2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Cammarata, A., Sinatra, R., Maddio, P.D. (2020). Extension of the Iterative Improved Reduced System Technique to Flexible Mechanisms. In: Kecskeméthy, A., Geu Flores, F. (eds) Multibody Dynamics 2019. ECCOMAS 2019. Computational Methods in Applied Sciences, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-030-23132-3_31
Download citation
DOI: https://doi.org/10.1007/978-3-030-23132-3_31
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-23131-6
Online ISBN: 978-3-030-23132-3
eBook Packages: EngineeringEngineering (R0)