ISSN:
1573-272X
Keywords:
flexible multibody dynamics
;
spatial compliance
;
flexural joints
;
quaternions
;
spatial elasticity
Source:
Springer Online Journal Archives 1860-2000
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract This paper looks at the modeling of elastically coupled rigidbodies. The elastic deformation is assumed to be localized, which is aparticularly valid assumption for flexural joints. A generic, lumpedparameter, Euclidean geometric, potential function based approach ispresented using quaternion calculus. The potential functions are similarto the functions presented in the spatial compliance control literature.Rigid body displacements are represented using a combination ofCartesian coordinates and quaternions. To demonstrate the utility of theproposed methods for computer analysis, a nontrivial example isconsidered. The system consists of two rigid bodies coupled by anasymmetric flexure incorporating crossed leaf springs. While thecompliant constitutive equations are well defined for arbitrary rigidbody displacements, it is only claimed that the model is accurate forsmall displacements.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1023/A:1009895915332
