{"title":"Flexible multibody system modelling of an aerial rescue ladder using Lagrange’s equations","authors":"Simon Densborn, O. Sawodny","doi":"10.1080/13873954.2021.1918175","DOIUrl":null,"url":null,"abstract":"ABSTRACT Due to limited weight and stiffness, large-scale robots are susceptible to structural oscillations during operation. In this publication, a model for the vertical dynamics of an aerial rescue ladder as an application example for large scale flexible robots is derived based on the Lagrange formalism. The model consists of five flexible segments, each using an arbitrary number of flexible modes. Kinematic loops occurring due to the type of interconnection between the telescopic elements are implicitly solved by the chosen assumed modes. Linearized system matrices are extracted from the model directly and very efficiently. In the resulting modelling process, the manipulator is solely described by its position and orientation kinematics and thus an adaption to different kinds of manipulators is straightforward. A validation against real world measurement data confirms the high accuracy of the derived model.","PeriodicalId":49871,"journal":{"name":"Mathematical and Computer Modelling of Dynamical Systems","volume":"27 1","pages":"322 - 346"},"PeriodicalIF":1.8000,"publicationDate":"2021-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/13873954.2021.1918175","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mathematical and Computer Modelling of Dynamical Systems","FirstCategoryId":"100","ListUrlMain":"https://doi.org/10.1080/13873954.2021.1918175","RegionNum":4,"RegionCategory":"数学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS","Score":null,"Total":0}
引用次数: 5
Abstract
ABSTRACT Due to limited weight and stiffness, large-scale robots are susceptible to structural oscillations during operation. In this publication, a model for the vertical dynamics of an aerial rescue ladder as an application example for large scale flexible robots is derived based on the Lagrange formalism. The model consists of five flexible segments, each using an arbitrary number of flexible modes. Kinematic loops occurring due to the type of interconnection between the telescopic elements are implicitly solved by the chosen assumed modes. Linearized system matrices are extracted from the model directly and very efficiently. In the resulting modelling process, the manipulator is solely described by its position and orientation kinematics and thus an adaption to different kinds of manipulators is straightforward. A validation against real world measurement data confirms the high accuracy of the derived model.
期刊介绍:
Mathematical and Computer Modelling of Dynamical Systems (MCMDS) publishes high quality international research that presents new ideas and approaches in the derivation, simplification, and validation of models and sub-models of relevance to complex (real-world) dynamical systems.
The journal brings together engineers and scientists working in different areas of application and/or theory where researchers can learn about recent developments across engineering, environmental systems, and biotechnology amongst other fields. As MCMDS covers a wide range of application areas, papers aim to be accessible to readers who are not necessarily experts in the specific area of application.
MCMDS welcomes original articles on a range of topics including:
-methods of modelling and simulation-
automation of modelling-
qualitative and modular modelling-
data-based and learning-based modelling-
uncertainties and the effects of modelling errors on system performance-
application of modelling to complex real-world systems.