Application de Ia MEF a Ia modelisation dynamique des robots souples
Keywords:
modal synthesis, incremental scheme, connexion matrix, local connexion reference frameAbstract
This paper is devoted to the non-linear dynamic analysis of the flexible robots. After substructuration, and by mean of an incremental scheme, the motion of each substructure is defined relatively to a mobile reference configuration. A modal synthesis is thus applied on the increment of rigid motion and of the deformation. This permit to take into account the inertial coupling between the rigid motion and the deformation. An original process is built to link the different substructures. It uses the notions of local connexion reference frame and connexion matrix. The numerical results demonstrate that this formalism is in good agreement with known solutions.
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