The problem of predicting the dynamic behavior of a general multibody system subject to kinematic structure changes is addressed using a mixed set of Lagrangian coordinates. Changes in the kinematic structure may occur smoothly or accompanied by a change in the system momenta. The finite element method is employed to estimate the modal characteristics of flexible bodies. An automated pieced-interval computational scheme that accounts for the change in the dynamic characteristics due to the imposition of new sets of constraints on the boundaries of flexible components is developed. The resulting change in the deformation modes and the associated change in basis of the configuration space requires a new set of generalized coordinates for each subinterval of the analysis. A numerical example is used to demonstrate the analysis scheme developed in this paper.
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June 1986
This article was originally published in
Journal of Mechanisms, Transmissions, and Automation in Design
Research Papers
Dynamics of Multibody Systems With Variable Kinematic Structure
Y. A. Khulief,
Y. A. Khulief
Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL 60680
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A. A. Shabana
A. A. Shabana
Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL 60680
Search for other works by this author on:
Y. A. Khulief
Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL 60680
A. A. Shabana
Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL 60680
J. Mech., Trans., and Automation. Jun 1986, 108(2): 167-175 (9 pages)
Published Online: June 1, 1986
Article history
Received:
June 14, 1985
Online:
November 19, 2009
Citation
Khulief, Y. A., and Shabana, A. A. (June 1, 1986). "Dynamics of Multibody Systems With Variable Kinematic Structure." ASME. J. Mech., Trans., and Automation. June 1986; 108(2): 167–175. https://doi.org/10.1115/1.3260798
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