This work is primarily concerned with the development of a mathematical formulation capable of treating the problems of maneuvering and control of flexible multibody structures. The analytical formulation is based upon equations of motion in terms of quasi-coordinates derived for each substructure independently. The individual substructures are made to act as a single structure by means of a consistent kinematical synthesis. In recognition of smaller elastic motions, a perturbation approach is developed whereby the rigid-body maneuvering of the system defines the zero-order kinematical dynamics, while the elastic motions and perturbations from the rigid-body maneuvering define the first-order kinematical synthesis. As a numerical example, the Planar Articulating Controls Experimental (PACE) test article is maneuvered according to a bang-bang control law by means of torque applied to the shoulder and the elbow. The numerical simulation shows a close match with the detailed modal survey.


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    Title :

    Dynamic modeling of flexible multibody structures


    Contributors:
    Yen, G.G. (author) / Kwak, M.K. (author)


    Publication date :

    1999-01-01


    Size :

    771598 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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