Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/83056
Título: | Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches |
Autor(es): | Marques, Filipe Flores, Paulo Roupa, Ivo Silva, Miguel T. Lankarani, Hamid M. |
Palavras-chave: | Newton-euler method Lagrangian formulation Closed loop kinematic chains Open systems Multibody system dynamics |
Data: | 2021 |
Editora: | Elsevier 1 |
Revista: | Mechanism and Machine Theory |
Resumo(s): | This work aims at presenting, in a comprehensive manner, several approaches to model and simulate closed loop topologies using the classical Lagrangian formulation. One of the great advantages of the Lagrangian approach is its simplicity and easiness of obtaining the equations of motion. However, a critical aspect arises when the mechanical systems include closed loop topologies, since the process of deriving the equations of motion becomes a complex task. The key point of the present study is to convert the closed loop nature into open systems, which ultimately simplifies the modeling process when the Lagrangian formulation is utilized. For this purpose, three different methods are considered, namely those based on the cut joint approach, the clearance joint constraint model, and the elastic joint formulation are used. In the sequel of this process, a slider-crank mechanism is utilized as a demonstrative application example, and the main results are compared with those obtained with the well-established Newton-Euler method for constrained multibody systems. Moreover, this example allows the comparison of the main characteristics and peculiarities of the described approaches. |
Tipo: | Artigo |
URI: | https://hdl.handle.net/1822/83056 |
DOI: | 10.1016/j.mechmachtheory.2021.104294 |
ISSN: | 0094-114X |
e-ISSN: | 1873-3999 |
Versão da editora: | https://doi.org/10.1016/j.mechmachtheory.2021.104294 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | CMEMS - Artigos em revistas internacionais/Papers in international journals |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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Marques et al MMT 2021.pdf | Paper | 3,51 MB | Adobe PDF | Ver/Abrir |