Modelling and control of large flexible structures using combined simulation tools

Abstract

In the present paper a new approach for the modelling and control of flexible virtual prototypes in a combined simulation tool environment is presented. As case study the design of a `goliath' robot for the automatic container transfer is used. The tool environment is composed of the three tools ADAMS, ANSYS and MATLAB which are combined via suitable interface structures. The questions arising are the following: Is it possible to include flexible FE bodies successfully in a (rigid) mechanical prototype environment? Is it in a next step possible to control this very complex structure even when the controller layout is only based on a simplified process model using mathematical beam equations?