Dynamic Analysis and Control of 3D Flexible Mechanisms Using Nonlinear Recursive Method in Multibody Automation Systems

摘要

The aim of this paper is to develop an efficient method for decoupling joint and elastic accelerations, while maintaining the inertia coupling between rigid body motion and elastic body deformation. This method is used for dynamic analysis and control of open-loop and closed-loop mechanical system that consist of a set of interconnected flexible bodies such as flexible 3D mechanisms in multibody automotation systems. The initial configuration of each manipulator in the system is identified using a coupled set of reference and modal coordinates. The absolute velocities and accelerations of leaf bodies in the open-loop and closed-loop systems are expressed in terms of the absolute velocities and accelerations of the base bodies and the time derivatives of the relative coordinates of the joints between these bodies. In this investigation, dynamic analysis and control are performing on the modern computers to calculate the manufacturing paths of all key points of the flexible 3D mechanisms in multibody automation systems. The positions, velocities, accelerations, and forces can also be calculated and updated during the movement. Therefore, the dynamic analysis and simulation of the whole 3-DOF flexible mechanisms in multibody automation systems can be represented efficiently and accurately by using this developed nonlinear recursive method as shown in this research paper.