On multibody-system equilibrium-point selection during joint-parameter identification: A numerical and experimental analysis

2018 ◽  
Vol 128 ◽  
pp. 287-297
Author(s):  
Gregor Čepon ◽  
Jakob Rogelj ◽  
Luka Knez ◽  
Miha Boltežar
Author(s):  
Josep M. Font-Llagunes ◽  
Jo´zsef Ko¨vecses

Mechanical systems with time-varying topology appear frequently in various applications. In this paper, topology changes that can be modeled by means of bilateral impulsive constraints are analyzed. We present a concept to project kinematic and kinetic quantities to two mutually orthogonal subspaces of the tangent space of the mechanical system. This can be used to obtain decoupled formulations of the kinetic energy and the dynamic equations at topology transition. It will be shown that the configuration of the multibody system at topology change significantly influences the projection of non-ideal forces to both subspaces. Experimental analysis, using a dual-pantograph robotic prototype interacting with a stiff environment, is presented to illustrate the material.


1995 ◽  
Vol 117 (3) ◽  
pp. 441-445 ◽  
Author(s):  
A. G. Lynch ◽  
M. J. Vanderploeg

This paper presents a method for obtaining linearized state space representations of open or closed loop multibody dynamic systems. The paper develops a symbolic formulation for multibody dynamic systems which result in an explicit set of symbolic equations of motion. The symbolic equations are then used to perform symbolic linearizations. The resulting symbolic, linear equations are in terms of the system parameters and the equilibrium point, and are valid for any equilibrium point. Finally, a method is developed for reducing a linearized, constrained multibody system consisting of a mixed set of algebraic-differential equations to a reduced set of differential equations in terms of an independent coordinate set. An example is used to demonstrate the technique.


2017 ◽  
Vol 17 (05) ◽  
pp. 1740008 ◽  
Author(s):  
Ioannis A. Antoniadis ◽  
Konstantinos J. Kyriakopoulos ◽  
Evangelos G. Papadopoulos

A novel concept of a nonlinear oscillator is proposed, based on a bistable element, which operates around an unstable equilibrium point. Contrary to the Quasi-Zero Stiffness oscillators, a totally different redistribution of the stiffness elements is followed, so that any level required static stiffness for the entire system can be maintained. This oscillator is designed to present the same overall (static) stiffness around the system equilibrium point, the same mass and to use the same damping element as a reference classical linear SDOF oscillator. Once such an oscillator is optimally designed, it is shown to exhibit an extraordinary apparent damping ratio, which is several orders of magnitude higher than that of the original SDOF system, especially in cases where the original damping of the SDOF system is extremely low. This damping behavior is not a result of a novel additional extraordinary energy dissipation mechanism, but a result of the phase difference between the positive and the negative stiffness elastic forces; this is in turn a consequence of the proper redistribution of the stiffness and the damping elements. This fact ensures that an adequate level of elastic forces exists throughout the entire frequency range, able to counteract the inertial and the external excitation forces. Consequently, a resonance phenomenon, which is inherent in the original linear SDOF system, cannot emerge in the proposed oscillator.


2017 ◽  
Vol 42 (4) ◽  
pp. 397-410 ◽  
Author(s):  
Thomas Lauß ◽  
Stefan Oberpeilsteiner ◽  
Wolfgang Steiner ◽  
Karin Nachbagauer

2019 ◽  
Vol 1 (8) ◽  
Author(s):  
Justin Roger Mboupda Pone ◽  
Victor Kamdoum Tamba ◽  
Guillaume Honore Kom ◽  
Mathieu Jean Pierre Pesdjock ◽  
Alain Tiedeu ◽  
...  

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