Dynamics of a Two-Link Flexible System Undergoing Locking: Mathematical Modelling and Comparison With Experiments

Nagaraj, B. P.; Nataraju, B. S.; Ghosal, Ashitava

doi:10.1006/jsvi.1997.1194

Cited by 26 publications

(12 citation statements)

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“…The behaviour of the system was also investigated through rigid body and flexible body. It was emphasized that rigid body analyses were not very accurate because they ignored energy losses in joints [2].…”

Section: Introductionmentioning

confidence: 99%

WITHDRAWN: Numerical and Experimental Investigation of Deployment Behaviour of Folded Fin Mechanism based on the Dynamic Loading Conditions

Avci¹,

Ö²,

Keleş³

2020

Preprint

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In this study, the friction and damping values that arise during the deployment of the folded fin mechanism were obtained based on the experimental data. Although there are recommended values for friction in the literature, damping is a phenomenon that varies from system to system and must be obtained through test data. In this study, firstly, the mechanism was operated on the test device with a specific drive pressure and the actual drive pressure generated in the system was measured. The dynamic behaviour of the mechanism was recorded by a High-Speed camera system as well. Adams MBD (multi-body dynamics) was used to define the mechanism model and drive pressure data from the test was defined as input to the model. With the help of Adams DOE (Design of Experiments), certain intervals were defined for friction and damping, multiple analyses were carried out at the friction and damping intervals defined and total deployment time of the mechanism and the dynamic behaviours it exhibited during deployment were obtained. From these numerical results obtained, friction and damping values were obtained based on the model with the highest correlation and test results. The same mechanism was tested for different drive pressures with the specified friction and damping values and the results were compared to the numerical models. It was decided that the friction and damping values determined as a result of the comparison could be used in future numerical analyses.

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Section: Introductionmentioning

confidence: 99%

WITHDRAWN: Numerical and Experimental Investigation of Deployment Behaviour of Folded Fin Mechanism based on the Dynamic Loading Conditions

Avci¹,

Ö²,

Keleş³

2020

Preprint

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“…Massoud et al (2018), and Luo (1993) designed and conducted experiments for one link flexible robot. Experiments for multi-link flexible robots were implemented by Shafei & Korayem (2017), Nagaraj et al (1997), Yim et al (1993), and Korayem & Dehkordi (2018). In particular, Korayem & Dehkordi (2018) presented experiments for a mobile manipulator, with two flexible links and revolute-prismatic joints to demonstrate the performance of a dynamic model formulated by themself.…”

Section: A Brief Literature Review and Related Workmentioning

confidence: 99%

An efficient finite element formulation of dynamics for a flexible robot with different type of joints

Bien

et al. 2019

Mechanism and Machine Theory

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If two adjacent links of a flexible robot are connected via a revolute joint or a fixed prismatic joint, the relative motion of the next link will depend on both the joint motion and the elastic displacement of the distal end of the previous link. However, if the two adjacent links are connected via a sliding prismatic joint, the relative motion of the next link will depend additionally on the elastic deformation distributed along the previous link. Therefore, formulation of the motion equations for a multi-link flexible robot consisting of the revolute joints, the fixed prismatic joints and the sliding prismatic joints is challenging. In this study, the finite element kinematic and dynamic formulation was successfully developed and validated for the flexible robot, in which a transformation matrix is proposed to describe the kinematics of both the joint motion and the link deformation. Additionally, a new recursive formulation of the dynamic equations is introduced. As compared with the previous methods, the time complexity of the formulation is reduced by O(2η), where η is the number of finite elements on all links. The numerical examples and experiments were implemented to validate the proposed kinematic and dynamic modelling method.

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“…The solar panel is made of an aluminum honeycomb with carbon fibre face sheet (carbon fibre reinforced plastics) on both sides, which is characterized by large dimensions, low mass to size ratio, large inertias and relatively low structural rigidity [8] . It should be modeled as flexible body in accord with the engineering application.…”

Section: Flexible Solar Panelsmentioning

confidence: 99%

Simulation and analysis of flexible solar panels’ deployment and locking processes

Erwei

Zhang

Yao

2008

J. Shanghai Jiaotong Univ. (Sci.)

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To predict the attitude of satellite during the whole deployment process and evaluate the locking impact, a numerical flexible model of a certain satellite associated with four flexible honeycomb solar panels was established. The flexible solar panel was modeled by the finite element analysis (FEA), and the motion equations were derived by Lagrangian formulation. The locking process was based on the method of Hertzian contact, which enables one to predict the locking impact on the satellite and the subsequent oscillation of solar panels. The results reveal that locking operation has great impact on the attitude of the satellite, and the angular acceleration of satellite reaches 22.03 • /s 2 at the locking moment; the flexible solar panels model is feasible to predict the accurate response of the satellite during deployment and the oscillation of solar panels; the instantly impulsive force occurred during locking process is about 1.5 kN and the changing time is nearly 0.32 s. It provides an effective approach to present the flexible solar panels' deployment process and evaluate the locking impact.

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Dynamics of a Two-Link Flexible System Undergoing Locking: Mathematical Modelling and Comparison With Experiments

Cited by 26 publications

References 0 publications

WITHDRAWN: Numerical and Experimental Investigation of Deployment Behaviour of Folded Fin Mechanism based on the Dynamic Loading Conditions

WITHDRAWN: Numerical and Experimental Investigation of Deployment Behaviour of Folded Fin Mechanism based on the Dynamic Loading Conditions

An efficient finite element formulation of dynamics for a flexible robot with different type of joints

Simulation and analysis of flexible solar panels’ deployment and locking processes

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