Analysis of mechanical vibrations and forces using amalgamated decoupling method in multibody mechanical systems

摘要

The aim of this paper is to develop an efficient method for decoupling joint and elastic accelerations, while maintaining the nonlinear inertia coupling between rigid body motion and elastic body deformation. Almost all of the existing recursive methods for analysis of flexible open-loop and closed-loop multibody mechanical systems lead to dense coefficient matrices in the equations of motion, and consequently there are strong dynamic couplings between the joint and elastic coordinates. When the number of elastic degrees of freedom increases, the size of the coefficient matrix in the equations of motion becomes large and unfortunately the use of these methods for solving for the joint and elastic accelerations becomes less efficient. This paper discusses the problems associated with the inertia projection schemes used in the existing recursive methods, and it is shown that decoupling the joint and elastic accelerations using these methods requires the factorization of nonlinear matrices whose dimensions depend on the number of elastic degrees of freedom of the system. An amalgamated method that can be used to decouple the elastic and joint accelerations is then proposed. In this amalgamated decoupling formulation, the relationships between the absolute, elastic, and joint variables and the generalized Newton-Euler equations are used to develop systems of loosely coupled equations that have sparse matrix structure. Utilizing the inertia matrix structure of flexible manufacturing systems and the fact that the joint reaction forces associated with the elastic coordinates do represent independent variables, a reduced system of equations whose dimension is dependent on the number of elastic degrees of freedom is obtained. This system can be solved for the joint accelerations as well as for the joint reaction forces. The application of the procedure developed in this paper is illustrated using flexible open-loop robotic manipulators and closed-loop crank-slider mechanical systems.