|
| << vorige | volgende >> |
Tijdschrift beschrijving
Alle jaargangen van het bijbehorende tijdschrift
Alle afleveringen van het bijbehorende jaargang
Alle artikelen van de bijbehorende aflevering
Details van artikel 2 van 8 gevonden artikelen
| Titel: |
Dynamics of an elastic multibody chain: part a—body motion equations |
| Auteur: |
Sincarsin, G. B. Hughes, P. C. |
| Verschenen in: |
Dynamical systems |
| Paginering: | Jaargang 4 (1989) nr. 3-4 pagina's 209-226 |
| Jaar: |
1989 |
| Inhoud: |
In this paper—the first of a series describing the dynamics of an arbitrary multibody system—motion equations governing a set of individual bodies in a chain configuration are discussed. A chain consisting entirely of rigid bodies is considered first. Motion equations for a typical body of arbitrary shape and arbitrary mass distribution are then briefly summarized. Finally, the geometrical constraints necessary to connect the individual bodies into a chain are derived. Large translational and rotational motions are permitted at the joints connecting contiguous bodies. In other words, both prismatic and revolute joints are included, alone and in combination. As well, the interbody force constraints required to ensure that equal but opposite forces and torques exist at each joint are developed. The resulting expressions are amenable to the introduction of constraint and control forces at the chain joints. This permits the number of actively controlled degrees of freedom at any specific joint to be arbitrarily specified. The equations are fully nonlinear in the 'rigid' velocities for all individual chain bodies. The analysis is then extended to the case of a chain consisting of an arbitrary number of elastic bodies. Each elastic body is assumed to possess an arbitrary stiffness distribution, although structural deformations are assumed to be small. |
| Uitgever: |
Taylor & Francis |
| Bronbestand: |
Elektronische Wetenschappelijke Tijdschriften |
Details van artikel 2 van 8 gevonden artikelen
| << vorige | volgende >> |