IDEAS home Printed from https://ideas.repec.org/a/taf/nmcmxx/v18y2011i2p175-199.html
   My bibliography  Save this article

Rigid--flexible interactive dynamics modelling approach

Author

Listed:
  • Payam Zarafshan
  • S. Ali A. Moosavian

Abstract

Dynamics modelling of multi-body systems composed of rigid and flexible elements is elaborated in this article. The control of such systems is highly complicated due to severe underactuated conditions caused by flexible elements and an inherent uneven non-linear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, simulation studies for design improvement and also practical implementations. In this article, the rigid--flexible interactive dynamics modelling (RFIM) approach is proposed as a combination of Lagrange and Newton--Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than a common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. The proposed RFIM approach is first detailed for multi-body systems with flexible joints, and then with flexible members. Then, to reveal the merits of this new approach, few case studies are presented. A flexible inverted pendulum is studied first as a simple template for lucid comparisons, and next a space free-flying robotic system that contains a rigid main body equipped with two manipulating arms and two flexible solar panels is considered. Modelling verification of this complicated system is vigorously performed using ANSYS and ADAMS programs. The obtained results reveal the outcome accuracy of the new proposed approach for explicit dynamics modelling of rigid--flexible multi-body systems such as mobile robotic systems, while its limited computations provide an efficient tool for controller design, simulation studies and also practical implementations of model-based algorithms.

Suggested Citation

  • Payam Zarafshan & S. Ali A. Moosavian, 2011. "Rigid--flexible interactive dynamics modelling approach," Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis Journals, vol. 18(2), pages 175-199, July.
    • Handle: RePEc:taf:nmcmxx:v:18:y:2011:i:2:p:175-199
    DOI: 10.1080/13873954.2011.608166
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/13873954.2011.608166
    Download Restriction: Access to full text is restricted to subscribers.
    File URL: https://libkey.io/10.1080/13873954.2011.608166?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    References listed on IDEAS

    as
    1. S. Ali A. Moosavian & Alireza Pourreza & Khalil Alipour, 2010. "Dynamics and stability of a hybrid serial-parallel mobile robot," Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis Journals, vol. 16(1), pages 35-56, February.
    2. Ge, Xin-Sheng & Liu, Yan-Zhu, 2008. "The attitude stability of a spacecraft with two flexible solar arrays in the gravitational field," Chaos, Solitons & Fractals, Elsevier, vol. 37(1), pages 108-112.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Alain Yee Loong Chong & Eugene Ch’ng & Martin J. Liu & Boying Li, 2017. "Predicting consumer product demands via Big Data: the roles of online promotional marketing and online reviews," International Journal of Production Research, Taylor & Francis Journals, vol. 55(17), pages 5142-5156, September.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.

      More about this item

      Statistics

      Access and download statistics

      Corrections

      All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:nmcmxx:v:18:y:2011:i:2:p:175-199. See general information about how to correct material in RePEc.

      If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

      If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

      If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

      For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/NMCM20 .

      Please note that corrections may take a couple of weeks to filter through the various RePEc services.

      IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.