Kinematic and Dynamic Analysis for Closed-Loop Flexible Manufacturing Systems Using Nonlinear Recursive Method

Abstract:

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In this paper, a nonlinear recursive method for the dynamic and kinematic analysis of a closed-loop flexible manufacturing system is presented. The kinematic and dynamic models are developed using absolute reference, joint relative, and elastic coordinates as well as joint reaction forces. This recursive method leads to a system of loosely coupled equations of motion. In a closed-loop manufacturing system, cuts are made at selected secondary joints in order to form spanning tree structures. Compatibility conditions and reaction force relationships at the secondary joints are adjoined to the equations of open-loop manufacturing systems in order to form closed-loop kinematic and dynamic equations. Using the sparse matrix structure of these equations and the fact that the joint reaction forces associated with elastic degrees of freedom do not represent independent variables, a method for decoupling the joint and elastic accelerations is developed. Unlike existing recursive formulations, this method does not require inverse or factorization of large nonlinear matrices. The application of nonlinear recursive method in kinematic and dynamic analysis of closed-loop manufacturing systems is also discussed in this paper. The use of the numerical algorithm developed in this investigation is illustrated by a closed-loop flexible four-bar mechanism.

Info:

Periodical:

Materials Science Forum (Volumes 505-507)

Edited by:

Wunyuh Jywe, Chieh-Li Chen, Kuang-Chao Fan, R.F. Fung, S.G. Hanson,Wen-Hsiang Hsieh, Chaug-Liang Hsu, You-Min Huang, Yunn-Lin Hwang, Gerd Jäger, Y.R. Jeng, Wenlung Li, Yunn-Shiuan Liao, Chien-Chang Lin, Zong-Ching Lin, Cheng-Kuo Sung and Ching-Huan Tzeng

Pages:

1015-1020

DOI:

10.4028/www.scientific.net/MSF.505-507.1015

Citation:

Y. L. Hwang and S. J. Huang, "Kinematic and Dynamic Analysis for Closed-Loop Flexible Manufacturing Systems Using Nonlinear Recursive Method", Materials Science Forum, Vols. 505-507, pp. 1015-1020, 2006

Online since:

January 2006

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Price:

$35.00

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