Investigation of Torque Controlled Robots with Flexible Links Using a Flexible Multibody Simulation

Abstract The simulation approach presented in this paper is based on a nonlinear Finite Element (FE) formulation for modelling of multibody systems (MBS). This formulation is developed to include a comprehensive library of MBS elements as links, joints, springs, dampers and external forces. The links are modelled as FE substructures and reduced to super elements by component mode synthesis (CMS). Super nodes are used for modelling of the mechanism elements referred to above.

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Matrix-Based Product Representation to Support Flexible Multibody Simulation

Volume 2: 29th Computers and Information in Engineering Conference, Parts A and B ◽

10.1115/detc2009-87210 ◽

2009 ◽

Author(s):

Andreas Kain ◽

Andreas Gaag ◽

Udo Lindemann ◽

Oliver Roesch ◽

Thomas Bonin ◽

...

Keyword(s):

Machine Tool ◽

Machine Tools ◽

Neutral System ◽

Multibody Simulation ◽

Component Level ◽

Product Representation ◽

Specific Product ◽

Suggested Approach ◽

Flexible Multibody ◽

The Matrix

The structural behavior of machine tools has a large influence on the achievable tolerances. Vibrations of a machine tool structure result in poor surface finish. Small modifications in highly dynamic machine tools on the component level may cause unpredictable changes in overall machine tool behavior. A multibody system (MBS) is able to predict product kinematics and dynamics. The authors propose a matrix based approach to combine solution neutral system representation, solution specific product representation, and product behavior in order to improve system comprehension. It comprises knowledge and experience that occur along the whole product lifecycle of machine tools and can be utilized to support preprocessing and validation of flexible multibody systems (fMBS). A case study carried out together with a major industrial partner illustrates the suggested approach. This paper exemplifies the matrix based product representation at composing a flexible multibody simulation of a highly dynamic linear gear shaping machine. Preparation and evaluation of the product representation enhances inter domain root cause analysis as well as preprocessing and validation of flexible multibody models.

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Flexible multibody simulation using hybrid integration scheme

Multibody System Dynamics ◽

10.1007/s11044-015-9499-y ◽

2016 ◽

Vol 37 (1) ◽

pp. 3-13

Author(s):

Gibin Gil ◽

Parviz E. Nikravesh

Keyword(s):

Integration Scheme ◽

Hybrid Integration ◽

Multibody Simulation ◽

Flexible Multibody

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Flexible multibody simulation approach in the analysis of tibial strain during walking

Journal of Biomechanics ◽

10.1016/j.jbiomech.2007.12.002 ◽

2008 ◽

Vol 41 (5) ◽

pp. 1036-1043 ◽

Cited By ~ 37

Author(s):

R. Al Nazer ◽

T. Rantalainen ◽

A. Heinonen ◽

H. Sievänen ◽

A. Mikkola

Keyword(s):

Simulation Approach ◽

Multibody Simulation ◽

Flexible Multibody

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Dynamic Gear Wheel Simulations using Multibody Dynamics

Rakenteiden Mekaniikka ◽

10.23998/rm.64944 ◽

2017 ◽

Vol 50 (3) ◽

pp. 287-291 ◽

Cited By ~ 3

Author(s):

Teemu Kuivaniemi ◽

Antti Mäntylä ◽

Ilkka Väisänen ◽

Antti Korpela ◽

Tero Frondelius

Keyword(s):

Diesel Engine ◽

Power Unit ◽

Dynamic Simulation ◽

Multibody Dynamics ◽

Gear Wheel ◽

Gear Train ◽

Multibody Simulation ◽

Power Train ◽

Medium Speed ◽

Flexible Multibody

Simulation of the gear train is an important part of the dynamic simulation of the power train of a medium speed diesel engine. In this paper, the advantages of dynamic gear wheel simulation as a part of the flexible multibody simulation of a complete power train are described. The simulation is performed using AVL EXCITE Power Unit.

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