An exact dynamic stiffness method for multibody systems consisting of beams and rigid-bodies

Xiang, Liang; Sun, C. T.; Banerjee, J.R.; Dan, Han-Cheng; Chang, Le

doi:10.1016/j.ymssp.2020.107264

Cited by 40 publications

(18 citation statements)

References 92 publications

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“…in a unique LFT model. The peculiarity of the TITOP theory with respect to similar substructure approaches in literature as [11,12] consists in providing dynamical models directly adapted for robust performance certification and robust control synthesis.…”

Section: Background and Motivationmentioning

confidence: 99%

Integrated modelling of microvibrations induced by Solar Array Drive Mechanism for worst-case end-to-end analysis and robust disturbance estimation

Sanfedino,

Alazard,

Preda

et al. 2021

Preprint

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Modern and future observation Space missions face increasingly more demanding pointing performance requirements. This is accompanied with the development of larger lightweight flexible structures. This paper outlines a methodology for modeling a generic multi-body flexible spacecraft in an end-to-end fashion within the Two-Inputs Two-Outputs Port framework: from disturbance all the way to pointing performance by tacking into account all the uncertainties of each sub-system. A particular focus is dedicated to a novel generic model for Solar Drive Array Mechanisms and its harmonic disturbances produced by the micro-stepping driver and the gearbox imperfections. The proposed model is validated with the on-board telemetries of a European spacecraft. Moreover this paper shows how the proposed model-based approach can be easily used for control design and closed-loop robust performance analysis. Worst-case scenarios of mechanical parameters combination are investigated to provide robust performance certificate of the reference study case. A Linear Parameter-Varying observer, scheduled by the solar array rotor angle, is finally proposed in order to estimate the disturbance torques induced by the gearbox imperfections just using the measurements coming from a classical attitude control system: a star tracker and a gyrometer.

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Section: Background and Motivationmentioning

confidence: 99%

Integrated modelling of microvibrations induced by Solar Array Drive Mechanism for worst-case end-to-end analysis and robust disturbance estimation

Sanfedino,

Alazard,

Preda

et al. 2021

Preprint

View full text Add to dashboard Cite

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“…Specific methods have been developed for systems with certain features. An exact calculation method using dynamic stiffness was used to analyze vibrations of multibody systems with flexible beams connecting rigid bodies [30]. Rigid bodies can have any geometry and can have connections between them by means of elastic beams.…”

Section: Introductionmentioning

confidence: 99%

Finite Element Method-Based Elastic Analysis of Multibody Systems: A Review

2022

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This paper presents the main analytical methods, in the context of current developments in the study of complex multibody systems, to obtain evolution equations for a multibody system with deformable elements. The method used for analysis is the finite element method. To write the equations of motion, the most used methods are presented, namely the Lagrange equations method, the Gibbs–Appell equations, Maggi’s formalism and Hamilton’s equations. While the method of Lagrange’s equations is well documented, other methods have only begun to show their potential in recent times, when complex technical applications have revealed some of their advantages. This paper aims to present, in parallel, all these methods, which are more often used together with some of their engineering applications. The main advantages and disadvantages are comparatively presented. For a mechanical system that has certain peculiarities, it is possible that the alternative methods offered by analytical mechanics such as Lagrange’s equations have some advantages. These advantages can lead to computer time savings for concrete engineering applications. All these methods are alternative ways to obtain the equations of motion and response time of the studied systems. The difference between them consists only in the way of describing the systems and the application of the fundamental theorems of mechanics. However, this difference can be used to save time in modeling and analyzing systems, which is important in designing current engineering complex systems. The specifics of the analyzed mechanical system can guide us to use one of the methods presented in order to benefit from the advantages offered.

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“…Lu et al [19] suggested a new method for calculating the stiffness of bolted connectors and analyzed the effects of joint surface stiffness on the overall stiffness. Liu et al [20] developed an exact dynamic stiffness method for multi-body systems composed of beams and rigid bodies.There are two main types of robot stiffness modeling, namely, finite element (FE) [21] and analytical [22] methods. FE methods can describe aspects, such as the structural geometric dimensions, physical material properties, contact conditions, and load distribution, of robots in a comprehensive and detailed manner.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Analysis of the Stiffness Distribution of Host–Parasite Robots

et al. 2021

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The stiffness distribution (SD) of robot has a great influence on the robot pose accuracy, but the calculation efficiency and accuracy of stiffness distribution are still low.This study presents a finite element fitting method with an extremely small number of computational cells. It was developed based on experimental results of robot stiffness. This method can be employed to establish single-and multi-source fitted SD (FSD) (S-FSD and M-FSD) models for host-parasite (H-P) robots. The computational efficiency and correctness of the FSD models were verified by case studies.The configurations of six evolutionary mechanisms of an H-P robot were subjected to an SD analysis. A comparison of the six configurations shows that adding parasitic branched chains can improve the SD of the H-P robot to varying degrees. In particular, the most notable improvement was for H-P mechanism. Specifically, by averaging the stiffness of all positions, the average-stiffnesses of H-P mechanism in the x-, y-, and z-directions were 104.10%, 1427.78%, and 1101.62% of those of the host mechanism, respectively. In the SD diagram, the mediumand high-stiffness regions of mechanism F are large and distributed in a banded pattern between the highest pose point and the furthest pose point, whereas its low-stiffness region is small and concentrated near the nearest pose point .

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An exact dynamic stiffness method for multibody systems consisting of beams and rigid-bodies

Cited by 40 publications

References 92 publications

Integrated modelling of microvibrations induced by Solar Array Drive Mechanism for worst-case end-to-end analysis and robust disturbance estimation

Integrated modelling of microvibrations induced by Solar Array Drive Mechanism for worst-case end-to-end analysis and robust disturbance estimation

Finite Element Method-Based Elastic Analysis of Multibody Systems: A Review

Modeling and Analysis of the Stiffness Distribution of Host–Parasite Robots

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