next up previous contents
Next: The Kinematics of Up: Modelling and Simulation Previous: KinematicsDynamics and

Dynamics of Mechanical Systems with Flexible Links and Kinematic Loops

The necessity of modelling mechanical systems with flexible links in high--speed operations and space structures has become apparent. In this research we undertake the modelling and simulation of mechanical systems to account for kinematic loops and flexible links. Parallel manipulators, space satellites during deployment and space structures are examples of these systems. Here, the finite element method is used to model the flexible links, the Euler-Lagrange formulation being used to derive the equations of motion of the uncoupled links. Subsequently, the equations of motion of all the links are assembled to obtain the governing equations for the entire system. Finally, the methodology of the natural orthogonal complement is used to eliminate the constraint forces.
A. Fattah, J. Angeles, A.K. Misra



Thierry Baron
Mon Nov 13 10:43:02 EST 1995