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Dynamics and Control of Multi-Flexible-Body Systems in a Divide-and-Conquer Scheme

[+] Author Affiliations
Imad M. Khan

Optimal CAE Inc., Plymouth, MI

Kalyan C. Addepalli

Altair PD, Troy, MI

Mohammad Poursina

The University of Arizona, Tucson, AZ

Paper No. DETC2015-47264, pp. V006T10A019; 7 pages
doi:10.1115/DETC2015-47264
From:
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5716-8
  • Copyright © 2015 by ASME

abstract

In this paper, we present an extension of the generalized divide-and-conquer algorithm (GDCA) for modeling constrained multi-flexible-body systems. The constraints of interest in this case are not the motion constraints or the presence of closed kinematic loops but those that arise due to inverse dynamics or control laws. The introductory GDCA paper introduced an efficient methodology to include generalized constraint forces in the handle equations of motion of the original divide-and-conquer algorithm for rigid multibody systems. Here, the methodology is applied to flexible bodies connected by kinematic joints. We develop necessary equations that define the algorithm and present a well known numerical example to validate the method.

Copyright © 2015 by ASME

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