Naslov
Flexible mechanisms modelling using modal approach

Autori
Lozina, Željan ; Petrić, Joško

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2nd Congress of Croatian Society of Mechanics / Marović, Pavao ; Sorić, Jurica ; Vranković, Nikola - : Hrvatsko društvo za mehaniku (HDM), 1997, 407-414

Skup
The 2nd Congress of Croatian Society of Mechanics

Mjesto i datum
Supetar, Hrvatska, 18.09.1997. - 20.09.1997

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
flexible mechanism; finite element method; mathematical modelling; modal approach

Sažetak
The scope of the paper is mathematical modelling of flexible mechanisms using modal approach, and a comparison of the given method with the finite element method (FEM) approach considering numerical and computational issues. Although the rigid body dynamics and the vibrations of fixed structures are already well researched, the flexible robot manipulators and similar flexible mechanism systems with low stiffness links still need better and more efficient algorithms regarding the automatic control requirements. Advanced model based control strategies require models of relatively low order, but still able to describe system dynamics well enough. In order to develop the mathematical model Lagrangian formulation is employed. The small deformation of the flexible links is assumed. The eigenvectors are used as the space approximation functions and Galerkins method is applied to reach partial formulation. The time solution procedure is step by step based algorithm. The results are compared with those obtained by the finite element procedure and with the experimental results obtained on the laboratory model of the flexible robot manipulator. The numerical and computational efficiency of applied method is discussed.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA