Based on the deformation theory of elastic beams, the coupling effect between the coupling displacements of a point on the middle line of beam and large overall motion is presented. The 'coupling matrix library...Based on the deformation theory of elastic beams, the coupling effect between the coupling displacements of a point on the middle line of beam and large overall motion is presented. The 'coupling matrix library' and Jourdain's variation principle and single direction recursive formulation method are used to establish the general coupling dynamical equations of flexible multibody system. Two typical examples show the coupling effect between coupling displacements and large overall motion on the dynamics of flexible multibody system consisting of beams.展开更多
The dynamics of a flexible manipulator is investigated in this paper. From the point of view of dynamic balance, the motion equations of a rotating beam with tip load are established by us ing Hamilton' s principl...The dynamics of a flexible manipulator is investigated in this paper. From the point of view of dynamic balance, the motion equations of a rotating beam with tip load are established by us ing Hamilton' s principle. By taking into account the effects of dynamic stiffening and dynamic softening, the stability of the system is proved by employing Lyapunov' s approach. Furthermore, the method of power series is proposed to find the exact solution of the eigenvalue problem The effects of rotating speed and tip load on the vibration behavior of the flexible manipulator are shown in numerical results.展开更多
基金the National Natural Science Foundation of China(No.19832040)
文摘Based on the deformation theory of elastic beams, the coupling effect between the coupling displacements of a point on the middle line of beam and large overall motion is presented. The 'coupling matrix library' and Jourdain's variation principle and single direction recursive formulation method are used to establish the general coupling dynamical equations of flexible multibody system. Two typical examples show the coupling effect between coupling displacements and large overall motion on the dynamics of flexible multibody system consisting of beams.
文摘The dynamics of a flexible manipulator is investigated in this paper. From the point of view of dynamic balance, the motion equations of a rotating beam with tip load are established by us ing Hamilton' s principle. By taking into account the effects of dynamic stiffening and dynamic softening, the stability of the system is proved by employing Lyapunov' s approach. Furthermore, the method of power series is proposed to find the exact solution of the eigenvalue problem The effects of rotating speed and tip load on the vibration behavior of the flexible manipulator are shown in numerical results.
