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A new modeling method for flexible multibody systems

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Abstract

In this paper, the new form of Kane’s equations of motion for constrained systems is derived based on the general dynamic equation in the form of virtual power. A new dynamic modeling method for large rotation and deformation analysis of a flexible multibody system that undergoes arbitrary displacements is proposed based on the new form of Kane’s equations and the absolute nodal coordinate formulation. The equations of motion of the flexible multibody system established by the proposed modeling method are a set of pure differential equations without multipliers, and they have a unified compact form, which helps to design the controller and can avoid the inconvenience caused by the undetermined multipliers in the numerical calculations. Finally, a planar flexible double pendulum system is modeled by using the proposed modeling method and the Lagrange method of the first kind, respectively, and the validity and feasibility of the proposed method are demonstrated by comparing the numerical results obtained from the above two methods.

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Acknowledgements

This work is supported by Doctoral Fund of Ministry of Education of China (Grant No. 20112302120005). The support is gratefully acknowledged.

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Authors and Affiliations

  1. Department of Astronautic Science and Mechanics, Harbin Institute of Technology, No. 92 West Dazhi Street, Harbin, 150001, People’s Republic of China

    Jie Zhao, Rui Zhao, Zhong Xue & Kaiping Yu

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  1. Jie Zhao
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  2. Rui Zhao
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  3. Zhong Xue
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  4. Kaiping Yu
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Correspondence to Rui Zhao.

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Zhao, J., Zhao, R., Xue, Z. et al. A new modeling method for flexible multibody systems. Multibody Syst Dyn 35, 179–190 (2015). https://doi.org/10.1007/s11044-014-9423-x

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