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The development of a sliding joint for very flexible multibody dynamics using absolute nodal coordinate formulation

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Abstract

In this paper, a formulation for a spatial sliding joint is derived using absolute nodal coordinates and non-generalized coordinate and it allows a general multibody move along a very flexible cable. The large deformable motion of a spatial cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. And the nongeneralized coordinate, which is related to neither the inertia forces nor the external forces, is used to describe an arbitrary position along the centerline of a very flexible cable. Hereby, the non-generalized coordinate represents the arc-length parameter. The constraint equations for the sliding joint are expressed in terms of generalized coordinate and nongeneralized coordinate. In the constraint equations for the sliding joint, one constraint equation can be systematically eliminated. There are two independent Lagrange multipliers in the final system equations of motion associated with the sliding joint. The development of this sliding joint is important to analyze many mechanical systems such as pulley systems and pantograph-catenary systems for high speed-trains.

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Authors and Affiliations

  1. Graduate School of Mechanical Engineering, Ajou University, San5, Wonchun-dong, Youngtong-gu, Suwon-city, Gyeonggi-do, 443-749, Republic of Korea

    Soo-Ho Lee, Ji-Won Yoon & Kab-Jin Jun

  2. Division of Mechanical Engineering, Ajou University, San5, Wonchun-dong, Youngtong-gu, Suwon-city, Gyeonggi-do, 443-749, Republic of Korea

    Tae-Won Park

  3. Robotics Lab, Advanced Technology 2 Group, Mechatronics & Manufacturing Technology Center, SAMSUNG ELECTRONICS CO., LTD, Maetan3-dong, Youngtong-gu, Suwon-city, Gyeonggi-do, 443-742, Republic of Korea

    Jong-Hwi Seo

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  1. Soo-Ho Lee
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  2. Tae-Won Park
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  3. Jong-Hwi Seo
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  4. Ji-Won Yoon
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  5. Kab-Jin Jun
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Correspondence to Tae-Won Park.

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Lee, SH., Park, TW., Seo, JH. et al. The development of a sliding joint for very flexible multibody dynamics using absolute nodal coordinate formulation. Multibody Syst Dyn 20, 223–237 (2008). https://doi.org/10.1007/s11044-008-9109-3

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  • DOI: https://doi.org/10.1007/s11044-008-9109-3

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