Forward Dynamics of Variable Topology Mechanisms – The Case of Constraint Activation

Description

Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts of a mechanism lead to topology changes. The latter is becoming an important issue in human-machine interaction. Anticipating the dynamic behavior of variable topology mechanisms requires solving a non-smooth dynamic problem. The core challenge is a physically meaningful transition condition at the topology switching events. Such a condition is presented in this paper. Two versions are reported, one using projected motion equations in terms of redundant coordinates, and another one using the Voronets equations in terms of minimal coordinates. Their computational properties are discussed. Results are shown for joint locking of a 3R mechanisms.

Period	29 Jun 2015
Event title	ECCOMAS Thematic Conference on Multibody Dynamics 2015
Event type	Conference
Location	SpainShow on map