ISSN:
1573-269X
Keywords:
Dynamic parameters
;
multibody dynamics
;
four-bar mechanism
;
simulation
Source:
Springer Online Journal Archives 1860-2000
Topics:
Mathematics
Notes:
Abstract Dynamic equations of motion require a large number of parameters for each element of the system. These can include for each part their mass, location of center of mass, moment of inertia, spring stiffnesses and damping coefficients. This paper presents a technique for estimating these parameters in spatial mechanisms using any joint type, based on measurements of displacements, velocities and accelerations and of external forces and torques, for the purpose of building accurate multibody models of mechanical systems. A form of the equations of spatial motion is derived, which is linear in the dynamic parameters and based on multibody simulation code methodologies. Singular value decomposition is used to find the ‘essential parameter set’, and ‘minimum parameter set’. It is shown that a simulation of a four-bar mechanism (with spherical, universal, and revolute joints) and based on the estimated parameters gives accurate response.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1023/A:1008218130224
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