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Article
Open AccessA two-field approach to multibody dynamics of rotating flexible bodies
A two-field version of the floating frame-of-reference approach is developed to describe the dynamics of a flexible body in the case of motion in a uniformly rotating frame. Full decoupling of the kinetic ener...
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Article
Open AccessNonlinear normal modes of highly flexible beam structures modelled under the SE(3) Lie group framework
This work presents a shooting algorithm to compute the periodic responses of geometrically nonlinear structures modelled under the special Euclidean (SE) Lie group formulation. The formulation is combined with...
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Chapter and Conference Paper
Computing Periodic Responses of Geometrically Nonlinear Structures Modelled Using Lie Group Formulations
This chapter presents a shooting algorithm to compute the periodic responses of geometrically nonlinear structures modelled using a Special Euclidean (SE) Lie group beam formulation. The formulation is combined w...
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Article
Open AccessTwo-field formulation of the inertial forces of a geometrically-exact beam element
An independent velocity field is introduced via Legendre transformation of the kinetic energy of a geometrically-exact beam, leading to a first-order system of twice as many governing equations as a one-field ...
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Article
Modal reduction procedures for flexible multibody dynamics
Through a critical review of the various component mode synthesis techniques developed in the past, it is shown that both Craig–Bampton’s and Herting’s methods are particular cases of the mode-acceleration met...
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Article
A geometric optimization method for the trajectory planning of flexible manipulators
Lightweight and flexible robots offer an interesting answer to industrial needs for safety and efficiency. The control of such systems should be able to deal properly with the flexible behavior in the links an...
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Article
Validation of flexible multibody dynamics beam formulations using benchmark problems
As the need to model flexibility arose in multibody dynamics, the floating frame of reference formulation was developed, but this approach can yield inaccurate results when elastic displacements becomes large....
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Article
Sensitivity analysis for multibody systems formulated on a Lie group
A direct differentiation method and an adjoint variable method are proposed for the efficient semi-analytical evaluation of the sensitivities of multibody systems formulated in a matrix Lie group framework. Th...
