KED Modeling of PLS Mechanism

Abstract:

For the super-size and large flexibility of Pipe Lay-down System, considering the influence on the mechanism from elastic deformation and mechanical vibration during the movements, the kineto-elastodynamics model is established by using the KED theory which is based on the analysis of kinematics. The PLS mechanism is divided into several finite elements. Dynamic equations of beam element are established in the local coordinate by using Lagrange’s equation. In the process of changing from local coordinate into global coordinate, no longer considering the instantaneous structure assumes. In consideration of the first and second derivative of the coordinate transformation matrix versus time are not zero. The mass matrix, damping matrix and stiffness matrix of the final system kinematic differential equation are the function of time. It realizes the continuity of variable in the time domain. Derivation of the results in this paper lays a foundation for the next more accurate and efficient methods being applied to solve the KED equation of PLS mechanism.

• Periodical: Applied Mechanics and Materials (Volumes 268-270)
• Pages: 1319-1326
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.268-270.1319
• Online since: December 2012
• Authors: Yong Peng, Xiao Xu Bai
• Keywords: KED, Large Flexibility, Modeling, PLS, Super-Size

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