engleski

Modelling multi-body systems using the master— slave approach

Many engineering structures involve some type of kinematic joints. Modelling such structures therefore represents a static or dynamic multi-body problem, be it deployment and retraction of roofs, domes, satellite aerials or rocket wings, actuation of serial robot arms and parallel platforms and dynamics of rotating machinery, operation of flexible mechanisms including suspension systems, steering mechanisms, railway collecting pantographs, or some other engineering multi-body problem. Traditionally, these problems are analysed using specialist rigid-body mechanism codes, which often import flexibilities from finite element codes, but nowadays it is becoming exceedingly popular to employ non-linear finite element packages and enhance them so that they can handle this additional level of kinematic complexity. In this work, a particular technique within this approach has been applied to model a variety of simple and more complex joint types. The same method can be also employed to model general contact problems of elastic bodies, as a numerical example included at the end of this chapter demonstrates.

multi-body systems, master-slave approach

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