3D inertia transfer concept and symbolic determination of the base inertial parameters

Ros, Javier; Iriarte, Xabier; Mata, Vicente

doi:10.1016/j.mechmachtheory.2011.09.006

Cited by 20 publications

(21 citation statements)

References 6 publications

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“…There are other symbolic methods that can be applied to reduce even further the complexity of the resulting model: "trigonometricaly simplifiable expression removal" [7], "base parameter formulation of the system inertias" [9,10,11], "base parameter elimination" [6], etc... This methods can be applied directly on top of the presented modeling techniques.…”

Section: Other Symbolic Methodsmentioning

confidence: 99%

Symbolic multibody methods for real-time simulation of railway vehicles

et al. 2017

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In this work, recently developed state-of-the-art symbolic multibody methods are tested to acurately model a complex railway vehicle. The model is generated using a symbolic implementation of the principle of the virtual power. Creep forces are modeled using a direct symbolic implementation of the standard linear Kalker model. No simplifications, as base parameter reduction, partial-linearization or look-up tables for contact kinematics, are used. An Implicit-Explicit integration scheme is proposed to efficiently deal with the stiff creep dynamics. Hard real-time performance is achieved: the CPU time required for a very stable 1 ms integration time step is 256 µs.

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Section: Other Symbolic Methodsmentioning

confidence: 99%

Symbolic multibody methods for real-time simulation of railway vehicles

et al. 2017

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“…Several authors have proposed methods to determine and to reduce the number of parameters to be used in the inverse dynamics of manipulators (Fogarasy and Smith, 1997;Ebrahimi and Haghi, 2013;Díaz-Rodríguez et al, 2010;Ros et al, 2012;Chen and Beale, 2003;Yoshida et al, 1995) as well as to determine the minimum number of required parameters (Gautier and Khalil, 1988). It has also been inves-tigated the possibility that the parameters vary over time to facilitate manoeuvrability of manipulators in singular configurations (Parsa et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

Reduced inertial parameters in system of one degree of freedom obtained by Eksergian's method

2017

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Abstract. The mechanisms of one degree of freedom can be dynamically analysed by setting out a single differential equation of motion which variable is the generalized coordinate selected as independent. In front of the use of a set of generalized dependent coordinates to describe the system, the method exposed in this work has the advantage of working with a single variable but leads to complex analytical expressions for the coefficients of the differential equation, even in simple mechanisms. The theoretical approach, in this paper, is developed from Eksergian's method and Lagrange's equations. The equation of motion is written by means of a set of parameters -reduced parameters -that characterize the dynamic behaviour of the system. These parameters are function of the independent coordinate chosen and its derivative and can be obtained numerically by direct calculus or by means of a kinetostatic analysis, as is proposed. Two cases of study of the method are presented. The first example shows the study of pedalling a stationary bicycle used in a rehabilitation process. The second one shows the analysis of a single dwell bar mechanism which is driven by an electric motor.

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“…For the interpretation of the resulting design space the conventional mass matrix parameterisation conssisting of masses m, COMs c and principal MOIs g is not suitable since it is not linear in the elements of the mass matrix. Therefore we will use a slight adaptation of the multipole concept of Ros et al [88], termed the multipole-rod representation ( Fig. 5.1).…”

Section: Multipole-rod Interpretation Of the Mass Matrixmentioning

confidence: 99%

“…5.1). This interpretation relies on the fact that a mass matrix can be decomposed into three primitive elements; 1) a single point mass the at r, [88] with parameters that are linear in the mass matrix; a monopole m at r, a dipole δ in the direction a, and a quadripole η in the direction of b. One monopole, three dipoles and six quadripoles are sufficient to describe arbitrary bodies.…”

Section: Multipole-rod Interpretation Of the Mass Matrixmentioning

confidence: 99%

“…Therefore, an alternative, meaningful description of the design space of serial and parallel linkages is presented. This basis is derived from the concept of inertia transfer and the multipole representation of the inertial parameters, as used in the field parameter identification [88] (Section 5.5). This interpretation, here termed the multipole-rod representation, is shown to aid the feasibility study of dynamic balanced mechanisms.…”

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Screw theory based dynamic balance methods

Jong¹,

Johannes²

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3D inertia transfer concept and symbolic determination of the base inertial parameters

Cited by 20 publications

References 6 publications

Symbolic multibody methods for real-time simulation of railway vehicles

Symbolic multibody methods for real-time simulation of railway vehicles

Reduced inertial parameters in system of one degree of freedom obtained by Eksergian's method

Screw theory based dynamic balance methods

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