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Modeling of Flexible Multibody Systems Excited by Moving Loads with Application to a Robotic Portal System

Hartweg, Stefan and Heckmann, Andreas (2012) Modeling of Flexible Multibody Systems Excited by Moving Loads with Application to a Robotic Portal System. The 2nd Joint International Conference on Multibody System Dynamics - IMSD 2012, May 29–June 1, 2012, Stuttgart, Germany.

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Abstract

In this paper, an approach to solve mechanical problems with moving loads and flexible bodies is presented. Therefore, the multi-disciplinary modeling language Modelica together with the DLR FlexibleBodies Library is utilized. Rather than solving the equations of motion analytically, this approach solves them numerically. While large overall motions of the flexible parts are described using the Floating Frame of Reference (FFR) method, the deformation is represented by appropriate shape functions. It is shown how a subsystem with masses and spring-damper elements can be connected to the flexible body and how the occurring forces of this moving load affect it. The equations of motion are derived in a general way, yielding a formulation compatible to e. g. a finite element models which are reduced to global shape functions. The usage of this formulation is shown for the simulation of a robotic portal system.

Document Type:Conference or Workshop Item (Paper)
Title:Modeling of Flexible Multibody Systems Excited by Moving Loads with Application to a Robotic Portal System
Authors:
AuthorsInstitution or Email of Authors
Hartweg, Stefanstefan.hartweg@dlr.de
Heckmann, Andreasandreas.heckmann@dlr.de
Date:2012
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Modelica, robotic portal system, moving load, multibody
Event Title:The 2nd Joint International Conference on Multibody System Dynamics - IMSD 2012
Event Location:Stuttgart, Germany
Event Type:international Conference
Event Dates:May 29–June 1, 2012
Organizer:Institute of Engineering and Computational Mechanics, University of Stuttgart
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Structures & Materials
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: Stefan Hartweg
Deposited On:03 Aug 2012 10:19
Last Modified:12 Dec 2013 21:42

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