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

Hartweg, Stefan und 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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Kurzfassung

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.

Dokumentart:Konferenzbeitrag (Paper)
Titel:Modeling of Flexible Multibody Systems Excited by Moving Loads with Application to a Robotic Portal System
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Hartweg, Stefanstefan.hartweg@dlr.de
Heckmann, Andreasandreas.heckmann@dlr.de
Datum:2012
Referierte Publikation:Ja
In ISI Web of Science:Nein
Status:veröffentlicht
Stichwörter:Modelica, robotic portal system, moving load, multibody
Veranstaltungstitel:The 2nd Joint International Conference on Multibody System Dynamics - IMSD 2012
Veranstaltungsort:Stuttgart, Germany
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:May 29–June 1, 2012
Veranstalter :Institute of Engineering and Computational Mechanics, University of Stuttgart
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Luftfahrt
HGF - Programmthema:Starrflügler
DLR - Schwerpunkt:Luftfahrt
DLR - Forschungsgebiet:L AR - Starrflüglerforschung
DLR - Teilgebiet (Projekt, Vorhaben):L - Strukturen & Werkstoffe
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Systemdynamik und Regelungstechnik (war Entwurfsorientierte Regelungstechnik)
Hinterlegt von: Stefan Hartweg
Hinterlegt am:03 Aug 2012 10:19
Letzte Änderung:12 Dez 2013 21:42

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