With the inclusion of flexible modes in multibody dynamics formulations, attention must be given to the types of modes selected to characterize the elastic deformation of the articulating component. Analysis of the dynamics of spacecraft with articulating appendages, robots, and other systems with articulating components falls under the class of dynamics theory known as multibody dynamics. The time-varying geometry of such systems makes solutions difficult; the problem is even more complicated if the articulating components are flexible. In linear structural dynamics, complex systems are generally divided into substructures, or components, and component mode synthesis (CMS) techniques are used to combine component models to form a system model. The purpose of this paper is to describe CMS-based procedures that facilitate the modeling of component flexibility for multibody systems with flexible articulating components. Two component reference frames - secant reference frames and tangent reference frames - are defined, and a close relationship is shown to exist between the component reference frame and the component mode set that should be used to characterize component deformation. It is also shown that by proper selection of component constraint modes to represent interface degrees of freedom, coupling between rigid-body coordinates and flexible-mode coordinates can be minimized. A planar two-link manipulator is used to illustrate the various mode sets used to characterize component flexibility.
On the use of component modes in multibody dynamics
Über die Nutzung des Komponentenmodus in der Mehrkörperdynamik
1996
8 Seiten, 9 Bilder, 12 Quellen
Aufsatz (Konferenz)
Englisch
On the use of component modes in multibody dynamics
AIAA | 1996
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