Abstract
In this chapter, dynamic modeling of closed-loop rigid–flexible systems comprising of both rigid and flexible links is presented. For this, the DeNOC-based formulation of motion for serial-chain, rigid–flexible multibody systems, which are introduced in the previous chapter, were used. The flexible links were modeled as Euler–Bernoulli beams, and their deformations were discretized using the assumed mode method (AMM) (Meirovitch in Analytical methods in vibration. The Mcmillan Company, New York, NY, 1967 [4]). In order to be able to use the dynamic formulation for serial chains, the closed-loop system was cut at appropriate joints to form several open-loop, serial-chain subsystems. Then using the equations of motion of those subsystems, the dynamic equations of the closed-loop systems were obtained. The proposed approach allows one to solve closed-chain systems using the knowledge of serial-chain dynamics only. The concern is that one has to solve differential-algebraic equations (DAE), which may lead to constraint violations if the proper solver is not chosen for the forward dynamic simulation.
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Nandihal, P.V., Mohan, A., Saha, S.K. (2022). Dynamics of Closed-Loop Systems. In: Dynamics of Rigid-Flexible Robots and Multibody Systems. Intelligent Systems, Control and Automation: Science and Engineering, vol 100. Springer, Singapore. https://doi.org/10.1007/978-981-16-2798-9_5
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DOI: https://doi.org/10.1007/978-981-16-2798-9_5
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