Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Stability analysis of constraints in flexible multibody systems dynamics
Date
1990-1
Author
İder, Sıtkı Kemal
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
235
views
0
downloads
Cite This
Automated algorithms for the dynamic analysis and simulation of constrained multibody systems assume that the constraint equations are linearly independent. During the motion, when the system is at a singular configuration, the constraint Jacobian matrix possesses less than full rank and hence it results in singularities. This occurs when the direction of a constraint coincides with the direction of the lost degree of freedom. In this paper the constraint equations for deformable bodies are modified for use in the neighborhood of the singular configuration to yield the system inertia matrix which is nonsingular and also to take the actual generalized constraint forces into account. The procedures developed are applicable to both the augmented approach and the coordinate reduction methods. For the modeling of the constrained flexible multibody systems, a general recursive formulation is developed using Kane's equations, finite element method and modal analysis techniques. The system may contain revolute, prismatic, spherical or other types of joints, as well as geometrical nonlinearities; the rotary inertia is also automatically included. Simulation of a two-link flexible manipulator is presented at a singular configuration to demonstrate the utility of the method.
Subject Keywords
General Engineering
,
Engineering, Multidisciplinary
URI
https://hdl.handle.net/11511/51454
Journal
International Journal of Engineering Science
DOI
https://doi.org/10.1016/0020-7225(90)90075-t
Collections
Department of Mechanical Engineering, Article
Suggestions
OpenMETU
Core
Hamilton-Jacobi theory of discrete, regular constrained systems
Güler, Y. (Springer Science and Business Media LLC, 1987-8)
The Hamilton-Jacobi differential equation of a discrete system with constraint equationsG α=0 is constructed making use of Carathéodory’s equivalent Lagrangian method. Introduction of Lagrange’s multipliersλ˙α as generalized velocities enables us to treat the constraint functionsG α as the generalized momenta conjugate toλ˙α. Canonical equations of motion are determined.
Finite anti-plane shear of compressible hyperelastic tubes
Erarslanoğlu, G.; Ertepınar, A. (Elsevier BV, 1990-1)
Finite, anti-plane shear of a long, hyperelastic, compressible circular cylindrical tube is investigated using the theory of finite elasticity. The highly nonlinear, coupled, ordinary differential equations with variable coefficients governing the problem are solved numerically using the method of adjoints. The effect of the compressibility of the material is studied in several numerical examples.
Optimization of well placement in complex carbonate reservoirs using artifical intelligence
Uraz, İrtek; Akın, Serhat; Department of Petroleum and Natural Gas Engineering (2004)
This thesis proposes a framework for determining the optimum location of an injection well by using an inference method, Artificial Neural Networks and a search algorithm to create a search space and locate the global maxima. Theoretical foundation of the proposed framework is followed by description of the field for case study. A complex carbonate reservoir, having a recorded geothermal production history is used to evaluate the proposed framework ( Kizildere Geothermal field, Turkey). In the proposed fram...
An Efficient Parallel Solution Framework for the Linear Solution of Large Systems on PC Clusters
Kurç, Özgür (Tsinghua University Press, 2008-10-01)
In this paper, a parallel solution framework for the linear static analysis of large structures on PC clusters is presented. The framework consists of two main steps: data preparation and parallel solution. The parallel solution is performed by a substructure based method with direct solvers. The aim of the data preparation step is to create the best possible substructures so that the parallel solution time is minimized. An actual structural model was solved utilizing both homogeneous and heterogeneous PC c...
Optimum design of pın-jointed 3-D dome structures using global optimization techniques
Saraç, Yavuz; Hasançebi, Oğuzhan; Department of Civil Engineering (2005)
Difficult gradient calculations, converging to a local optimum without exploring the design space adequately, too much dependency on the starting solution, lacking capabilities to treat discrete and mixed design variables are the main drawbacks of conventional optimization techniques. So evolutionary optimization methods received significant interest amongst researchers in the optimization area. Genetic algorithms (GAs) and simulated annealing (SA) are the main representatives of evolutionary optimization m...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
S. K. İder, “Stability analysis of constraints in flexible multibody systems dynamics,”
International Journal of Engineering Science
, pp. 1277–1290, 1990, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/51454.