Abstract
Modeling a flexible multibody system employing the floating frame of reference formulation (FFRF) requires significant computational resources when the flexible components are represented through finite elements. Reducing the complexity of the governing equations of motion through component-level reduced-order models (ROM) can be an effective strategy. Usually, the assumed field of deformation is created considering local modes, such as normal, static, or attachment modes, obtained from a single component. A different approach has been proposed in Cammarata (J. Sound Vibr. 489, 115668, 2020) for planar systems only and involves a reduction based on global flexible modes of the whole mechanism. Through the use of global modes, i.e., obtained from an eigenvalue analysis performed on the linearized dynamic system around a certain configuration, it is possible to obtain a modal basis for the flexible coordinates of the multibody system. Here, the same method is extended to spatial mechanisms to verify its applicability and reliability. It is demonstrated that global modes can be used to create ROM both at the system and component levels. Studies on the complexity of the method reveal this approach can significantly reduce the calculation times and the computational effort compared to the unreduced model. Unlike the planar case, the numerical experiments reveal that the system-level approach based on global modes can suffer from slow convergence speed and low accuracy in results.
Highlights
The finite element floating frame of reference formulation (FE-FFRF) often accompanies considerable use of computational resources to model flexible multibody systems [41]
It is well known that the use of different floating frames considering different reference conditions (RCs), employed to delete the rigid motions of the flexible elements, can simplify the inertia terms [2]
The spatial kinematics of a point belonging to a flexible body depends on the gross motion of the floating frame of reference and on the local small deformations described in the floating frame
Summary
The finite element floating frame of reference formulation (FE-FFRF) often accompanies considerable use of computational resources to model flexible multibody systems [41]. It is well known that the use of different floating frames considering different reference conditions (RCs), employed to delete the rigid motions of the flexible elements, can simplify the inertia terms [2]. The other way around, the system-level based formulations employ a global reduction of rigid and elastic components [7, 22, 32, 34]. Two reduction methods based on the global modes of the mechanism are proposed In both approaches, only the elastic coordinates of the components are replaced using global flexible normal modes while the final ROM maintains the gross motion coordinates. Conclusions are drawn to summarize the strengths and weaknesses of the method
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