Application de Ia MEF a Ia modelisation dynamique des robots souples

Authors

  • Naoufel Azouz Centre d'Etudes de Mecanique d'lle-de-France, Laboratoire mixte Universite d'Evry, CEA 40 rue du Pelvoux, F-91020 Evry Courcouronnes cedex
  • Madeleine Pascal Centre d'Etudes de Mecanique d'lle-de-France, Laboratoire mixte Universite d'Evry, CEA 40 rue du Pelvoux, F-91020 Evry Courcouronnes cedex
  • Alain Combescure Ecole Normale Superieure de l'Enseignement Technique de Cachan 61, avenue du President Wilson F-94235 Cachan cedex

Keywords:

modal synthesis, incremental scheme, connexion matrix, local connexion reference frame

Abstract

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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Published

1998-07-15

How to Cite

Azouz, N. ., Pascal, M. ., & Combescure, A. . (1998). Application de Ia MEF a Ia modelisation dynamique des robots souples. European Journal of Computational Mechanics, 7(7), 763–791. Retrieved from https://journals.riverpublishers.com/index.php/EJCM/article/view/3049

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