Abstract
In order to study the influence of compliance parts on spatial multibody systems, a rigid-flexible coupling dynamic equation of a spatial crank-slider mechanism is established based on the finite element method. Specifically, absolute node coordinate formulation (ANCF) is used to formulate a three-dimensional, two-node flexible cable element. The rigid-flexible coupling dynamic equation of the mechanism is derived by the Lagrange multiplier method and solved by the generalized α method and Newton–Raphson iteration method combined. Comparison of the kinematics and dynamics response between rigid-flexible coupling system and pure rigid system implies that the flexible part causes a certain degree of nonlinearity and reduces the reaction forces of joints. The elastic modulus of the flexible part is also important to the dynamics of the rigid-flexible multibody system. With smaller elastic modulus, the motion accuracy and reaction forces become lower.
Highlights
Multibody systems are composed of several rigid or flexible objects interconnected by joints, which are applied in various fields, such as aviation, robots and vehicle systems.With the development of industry, more and more mechanical systems demand spatial movement [1,2], which requires further analysis of spatial multibody systems.The fundamental problem of multibody system dynamics is modeling and computation
Computational multibody system dynamics research can be divided into rigid multibody systems, flexible multibody systems and rigid-flexible coupling multibody systems according to the mechanical characteristics of objects existing in the system
The spatial rigid-flexible coupling dynamic equation is obtained as follows, which can be solved by generalized α method and Euler implicit method combined
Summary
Multibody systems are composed of several rigid or flexible objects interconnected by joints, which are applied in various fields, such as aviation, robots and vehicle systems. In order to simplify the calculation and modeling, some coming demand of higher precision and resolution it is necessary to consider the influence of ponents with tiny deformations of the mechanical system can be regarded as rigid bodies. For namics characteristics seriouslyat different from [20,21] Different those mechanisms running high speed and real largesystem scale, the influence of the modeling flexibility canmethods to study the kinematics and dynamics of the crank-slider system have beendynamics pronot be ignored, otherwise it would reduce the precision of the system, and make posed. The above-mentioned research is basically for rigid planar crank-slider mechaand nisms, the flexible rod is established based on the absolute node coordinate formulation, and while research on spatial crank-slider mechanisms with flexible component is rare. Equation of spatial crank-slider mechanism is derived by the Lagrange multiplier equation to analyze the influence of flexible rod on spatial crank-slider mechanism
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