Dynamics and Balancing of Multibody Systems

Chaudhary, Himanshu; Saha, Subir Kumar

doi:10.1007/978-3-540-78179-0

Cited by 44 publications

(25 citation statements)

References 82 publications

(169 reference statements)

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“…(54a)-(54b) can be solved using recursive "subsystem" or "system" approach. For inverse dynamics, "subsystem recursion" provides a better efficiency, as pointed out by Chaudhary and Saha (2009).…”

Section: Closed-loop Systemsmentioning

confidence: 99%

Evolution of the DeNOC-based dynamic modelling for multibody systems

2013

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Abstract. Dynamic modelling of a multibody system plays very essential role in its analyses. As a result, several methods for dynamic modelling have evolved over the years that allow one to analyse multibody systems in a very efficient manner. One such method of dynamic modelling is based on the concept of the Decoupled Natural Orthogonal Complement (DeNOC) matrices. The DeNOC-based methodology for dynamics modelling, since its introduction in 1995, has been applied to a variety of multibody systems such as serial, parallel, general closed-loop, flexible, legged, cam-follower, and space robots. The methodology has also proven useful for modelling of proteins and hyper-degree-of-freedom systems like ropes, chains, etc. This paper captures the evolution of the DeNOC-based dynamic modelling applied to different type of systems, and its benefits over other existing methodologies. It is shown that the DeNOC-based modelling provides deeper understanding of the dynamics of a multibody system. The power of the DeNOC-based modelling has been illustrated using several numerical examples.

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Section: Closed-loop Systemsmentioning

confidence: 99%

Evolution of the DeNOC-based dynamic modelling for multibody systems

2013

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“…A short proof of this appears in Sommerville (1930) and also Huang (1993). Chaudhary & Saha (2009) have used these ideas more recently for mechanism balancing applications.…”

Section: Introductionmentioning

confidence: 92%

Equimomental Systems and Robot Dynamics

Selig¹

2015

Proceedings of the IMA Conference on Mathematics of Robotics

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Three different concepts from the past are reviewed from a more modern standpoint. Constructing an equimomental system of four point-masses to an arbitrary rigid-body; the conditions for the generalised mass matrix of a serial robot to be constant and how to dynamically balance an arbitrary rigid body so that it is symmetrical about a given axis. Connections are made to the geometry of a 3-dimensional Veronese variety.

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“…A1(a). The NewtonEuler (NE) equations of motion for the link in the fixed inertial frame, OXY, are written as [1]: In Eq. (C.2), N i,1 is a unit step function and u i are known as parametric knots or knot values.…”

Section: Equations Of Motion Of Rigid Link Moving In a Planementioning

confidence: 99%

“…The resultant inertial forces and moments of the moving links of a mechanism are termed as shaking force and shaking moment [1]. These forces and moments transmitted to the frame result in vibrations, wear and noise which adversely affect the dynamic performance of the mechanism.…”

Section: Introductionmentioning

confidence: 99%