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Dynamic Analysis of Semi-Flexible Multibody Systems: Coordinates Relatives Method

[+] Author Affiliations
Alexis Mouhingou, Naoufel Azouz

Université d’Evry Val d’Essonne, Evry, France

Paper No. IMECE2008-69087, pp. 429-438; 10 pages
doi:10.1115/IMECE2008-69087
From:
  • ASME 2008 International Mechanical Engineering Congress and Exposition
  • Volume 11: Mechanical Systems and Control
  • Boston, Massachusetts, USA, October 31–November 6, 2008
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4872-2 | eISBN: 978-0-7918-3840-2
  • Copyright © 2008 by ASME

abstract

This work presents the dynamic modelling of a multibody systems in cross form constituted of a central body which is connected four flexible arms, at each end of arm is connected a rotor. A particular attention is given to the influence of flexibility on the dynamic behaviour of system. For elaborate the complete dynamic model, one consider the sub-structuration technique in using the Lagrangian approach based on the relatives coordinates method of central body. One establishes then the mathematics equations permitting to obtain the dynamic model of motion for the simulation and the control study. The aerodynamic loads and the gravity force are taking into account for the dynamic complete model. At the end, one considers the case of stationary flight of a miniature Quadrotor. The numerical results permit to simulate the motion of Quadrirotor in flight. But also to compare the flexible and rigid model in order to resort the flexibility effects.

Copyright © 2008 by ASME

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