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An efficient discrete algorithm in dynamic modeling of large-deformation flexible mechanisms

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Abstract

This paper presents a methodology for accurate dynamic modeling and analysis of planar flexible mechanisms with large deformations. The discrete-time transfer-matrix method (DT-TMM) is conducted in detail to explore the effect of flexible links and joints. In order to significantly reduce the computation time for the solving process, a novel algorithm is proposed. It defines a size-element ratio for flexible-link modeling. Then, the transfer matrices are determined considering the flexible-link/joint components. The algorithm can perform various kinematic-chain mechanisms with different state vectors in DT-TMM. The displacement-based algorithm is postulated in our formulation, but it is compared with reported acceleration-based studies to evaluate the efficiency. In addition, simulation results are verified using MSC.ADAMS© software. Also, to demonstrate time efficiency, a systematic CPU-time comparison is presented. Finally, the dynamic analysis of a flexible PRR mechanism with both types of actuators is carried out. This paper contributes to the literature on methods and techniques for complicated mechanism modeling in the presence of large deformation, emphasizing the development of an algorithmic framework.

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Authors and Affiliations

  1. Mechanical Engineering School, Mechatronic Research Lab, Shahrood University of Technology, Shahrood, Iran

    Mahdi Bamdad & Mahdi Feyzollahzadeh

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  1. Mahdi Bamdad
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  2. Mahdi Feyzollahzadeh
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Correspondence to Mahdi Bamdad.

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Bamdad, M., Feyzollahzadeh, M. An efficient discrete algorithm in dynamic modeling of large-deformation flexible mechanisms. Multibody Syst Dyn 59, 123–141 (2023). https://doi.org/10.1007/s11044-023-09880-1

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