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2019 | OriginalPaper | Chapter

A Two-Step Algorithm for the Dynamic Reduction of Flexible Mechanisms

Authors : A. Cammarata, R. Sinatra, P. D. Maddio

Published in: Mechanism Design for Robotics

Publisher: Springer International Publishing

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Abstract

A two-step algorithm for the dynamic reduction of flexible mechanisms inspired to the IRS method for structures is proposed. The classic Guyan-Iron condensation is first extended to multibody systems by introducing the joint compatibility equations in the equations of motion written in terms of slave and the new class joint-nodes. It is demonstrated that the joint-nodes augment the boundary-nodes, that form subset of nodes with independent displacements. Then, the Miller’s expansion is combined with the extended Guyan-Iron reduction to build a two-step algorithm for the dynamic condensation of flexible multibody systems. Finally, a numerical example is studied to check the accuracy of the proposed method.

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Metadata
Title
A Two-Step Algorithm for the Dynamic Reduction of Flexible Mechanisms
Authors
A. Cammarata
R. Sinatra
P. D. Maddio
Copyright Year
2019
Book
Mechanism Design for Robotics

Print ISBN: 978-3-030-00364-7

Electronic ISBN: 978-3-030-00365-4

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-030-00365-4_4