This paper is focused on the analysis of an elastodynamic model, typically referred to single-link flexible manipulators, when it is extended to multibody systems with closed-loop kinematic chains subject to vibrations, caused by the slenderness of their mechanical structure together with severe dynamic working conditions. The work is aimed at analyzing the relationship between the degree of accuracy of the proposed elastodynamic model, compared with more complete but time consuming models developed with software, and the time required for its computation, with the final aim of guiding its implementation in real-time control algorithms. Notwithstanding the study is proposed for parallel kinematic machines, the results are also valid for serial kinematic chains.
Analysis of a multibody elastodynamic model for closed-loop kinematic mechanisms / Carbonari, L.; Brillarelli, S.; Palpacelli, M. C.; Callegari, M.. - ELETTRONICO. - 9:(2019). (Intervento presentato al convegno ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 tenutosi a Anaheim, CA, USA nel August 18-21, 2019) [10.1115/DETC2019-97901].
Analysis of a multibody elastodynamic model for closed-loop kinematic mechanisms
Carbonari L.Conceptualization
;Brillarelli S.Software
;Palpacelli M. C.
Investigation
;Callegari M.Supervision
2019-01-01
Abstract
This paper is focused on the analysis of an elastodynamic model, typically referred to single-link flexible manipulators, when it is extended to multibody systems with closed-loop kinematic chains subject to vibrations, caused by the slenderness of their mechanical structure together with severe dynamic working conditions. The work is aimed at analyzing the relationship between the degree of accuracy of the proposed elastodynamic model, compared with more complete but time consuming models developed with software, and the time required for its computation, with the final aim of guiding its implementation in real-time control algorithms. Notwithstanding the study is proposed for parallel kinematic machines, the results are also valid for serial kinematic chains.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
