Spatial Dynamics of Deformable Multibody Systems With Variable Kinematic Structure: Part 2—Velocity Transformation

Chang, Chau-Chin; Shabana, Ahmed A.

doi:10.1115/1.2912588

Cited by 16 publications

(3 citation statements)

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“…A similar approach for natural coordinates was introduced by García de Jálon and Bayo [9]. Chang and Shabana [13,14] derived the recursive velocity transformation equations to flexible multibody systems, but they did not demonstrate a systematic approach to execute the velocity transformation. A systematic approach to obtain the velocity transformation matrix for flexible multibody systems was proposed by Lee [15].…”

Section: Introductionmentioning

confidence: 99%

Description of joint constraints in the floating frame of reference formulation

Korkealaakso

Mikkola

Rantalainen

et al. 2009

Proceedings of the Institution of Mechanical Engineers, Part K:

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This article presents the modelling principles of the joint constraints for flexible multibody systems. The joints are composed using three basic constraint primitives which are derived including their first and second time derivatives as well as the components of the Jacobian matrix. The description of the derived components of constraint primitives can be used to develop a library of kinematic joints to use in multibody codes. In this study, the equations of motion are defined using generalized Newton-Euler equations where the deformations are accounted for by using the floating frame of reference formulation with modal coordinates. The deformation modes used in the floating frame of reference formulation are obtained from the finite-element analysis by employing the lumped mass matrix. Dynamic analysis of a mechanism consisting of rigid and flexible bodies is used to illustrate the validity of the constraint formulation.

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Section: Introductionmentioning

confidence: 99%

Description of joint constraints in the floating frame of reference formulation

Korkealaakso

Mikkola

Rantalainen

et al. 2009

Proceedings of the Institution of Mechanical Engineers, Part K:

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“…Simulation and control issues have been discussed by Rhody, Heppler, and Golnaraghi (1993) and Heppler (1993), and wave motion induced by capture has been studied by Hwang and Shabana (1995). For object capture by multilink robots, simulation examples were presented in Chang and Shabana (1990) and Cyril, Jaar, and Misra (1993). According to our knowledge, no dynamic performance evaluation model and investigation have been presented for the general case of target capture.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Dynamic Performance Evaluation of Target Capture in Robotic Systems

Kövecses¹,

Cleghorn²,

Fenton

2000

The International Journal of Robotics Research

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In this paper, a dynamic system consisting of a robot manipulator and a target is analyzed. The target is considered in a general way as a dynamic subsystem having finite mass and moments of inertia (e.g., a rigid body or a second robot). The situation investigated is when the robot establishes interaction with the target in such a way that it intercepts and captures a reference element of the target. The analysis of target capture is divided into three phases in terms of time: the precapture, "free" motion (finite motion); the transition from free to constrained motion in the vicinity of interception and capture (impulsive motion); and the postcapture, constrained motion (finite motion). The greatest attention is paid to the analysis of the phase of transition, the impulsive motion, and dynamics of the system. Based on the use of impulsive constraints and the Jourdainian formulation of analytical dynamics, a novel approach is proposed for the dynamic modeling of target capture by a robot manipulator. The proposed approach is suitable to handle both finite and impulsive motions in a common analytical framework. Based on the dynamic model developed and using a geometric representation of the system's dynamics, a detailed analysis and a performance evaluation framework are presented for the phase of transition. Both rigid and structurally flexible models of robots are considered. For the performance evaluation analyses, two main concepts are proposed and corresponding performance measures are derived. These tools may be used in the analysis, design, and control of time-varying robotic systems. The dynamic system of a three-link robot arm capturing a rigid body is used to illustrate the material presented.

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“…Also, the x and y components of the joint moment are mostly generated by the weight, and the z component of joint moment is due mainly to the inertia x and y components of force. The results presented for the Cincinnati Milacron T3, Bendix AA/CNC, and Unimate 2000 were compared to those obtained by Yih (1987), and by Chang and Shabana (1990).…”

Section: A) Revolute Pairmentioning

confidence: 94%

Kinematic and dynamic analyses of general robots by applying the C-B notation-RaMIP (Robot and Mechanism Integrated Program)

Donoso¹

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Spatial Dynamics of Deformable Multibody Systems With Variable Kinematic Structure: Part 2—Velocity Transformation

Cited by 16 publications

References 0 publications

Description of joint constraints in the floating frame of reference formulation

Description of joint constraints in the floating frame of reference formulation

Modeling and Dynamic Performance Evaluation of Target Capture in Robotic Systems

Kinematic and dynamic analyses of general robots by applying the C-B notation-RaMIP (Robot and Mechanism Integrated Program)

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