• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.5
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• pp.437-443
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• 2008

In this paper, analysis and control of the flexible multibody system using MATLAB is presented. The equations of motion of a flexible body are derived in terms of the modal coordinate. The rigid-flexible multibody dynamic solver is developed. Finite element information required to analyze motion of flexible bodies is imported from ANSYS. The modified finite element data, such as modal mass matrix, modal stiffness matrix and constraint mode shapes, is calculated in the solver. Since the solver is developed using MATLAB, it is very easy to connect with SIMULINK which is widely used to control motion of the multibody system. Several simulations are implemented to verify the developed solver. A control example is carried out and the usefulness of the developed solver is demonstrated.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.2
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• pp.54-63
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• 2022

Among the various industrial robots, palletizing robots have received particular attention because of their higher productivity in accordance with technological progress. When designing a palletizing robot, the main components, such as the servo motors and reducers, should be properly selected to ensure its performance. In this study, a practical method for selecting the motors and reducers of a robot was proposed by performing the dynamic analysis of rigid-flexible multibody systems using ANSYS and ADAMS. In the first step, the links and frames were selected based on the structural analysis results obtained from ANSYS. Subsequently, a modal neutral file (MNF) with information on the flexible body was generated from the links and frames using modal analysis through ANSYS and APDL commands. Through a dynamic analysis of the flexible bodies, the specifications of the major components were finally determined by considering the required torque and power. To verify the effectiveness of the proposed method, the analysis results were compared with those of a rigid-body model. The comparison showed that rigid-flexible multibody dynamic analysis is much more useful than rigid body analysis, particularly for movements heavily influenced by gravity.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.849-850
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• 2008

• Journal of the Society of Naval Architects of Korea
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• v.47 no.1
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• pp.47-57
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• 2010

This study analyzes the dynamic response of a floating crane with a cargo considering an elastic boom to evaluate(or for evaluation of) its flexibility effect on their dynamic response. Flexible multibody system dynamics is applied in order to establish a dynamic equation of motion of the multibody system, which consists of flexible and rigid bodies. In addition, a floating reference frame and nodal coordinates are used to model the boom as a flexible body. The study also simulates the coupled surge, pitch, and heave motions of the floating crane carrying the cargo with three degrees of freedom by numerically solving the equation. Finally, the simulation results of the elastic and rigid booms are comparatively analyzed and the effects of the flexible boom are discussed.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.2
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• pp.150-156
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• 2004

In this paper, the dynamic behavior of a very flexible cable due to moving multibody system along its length is presented. The very deformable motion of a cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. Formulation for the sliding joint between a very flexible beam and a rigid body is derived. In order to formulate the constraint equations of this joint, a non-generalized coordinate, which has no inertia or forces associated with this coordinate, is used. The modeling of this sliding joint is very important to many mechanical applications such as the ski lifts. cable cars, and pulley systems. A multibody system moves along an elastic cable using this sliding joint. A numerical example is shownusing the developed analysis program for flexible multibody systems that include a large deformable cable.

• Journal of KSNVE
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• v.6 no.3
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• pp.287-296
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• 1996

A virtual work form of flexible multibody dynamic formulation with rotary inertia has been derived. For the analysis of large flexible multibody systems, deformation modal coordinates have been employed to represent coupled motion between gross and vibrational motion. For the efficient evaluation of the entries in the mass matrix, a flexible body has been treated as a collection of mass points. The rotary inertia was generated from the consistent mass matrix in a finite element model. Deformation mode shapes were obtained from finite element analysis. Bending and twisting vibration analyses of a cantilever have been carried out to see rotary inertia effects. A space flexible robot simulation has been also carried out to show effectiveness of the proposed formulation. This formulation is effective to the model that consists of beam, plate, or shell element that contains rotational degree of freedom at the nodal point. It is also effective to the flexible body model to which a large lumped rotary inertia is attached.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.1
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• pp.101-109
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• 1997

A tool for the dynamic simulation and design technique of the excavator plays an important role in the prediction of dynamic behavior of the excavator in the initial design stage. In this paper, a flexible multibody dynamic analysis model including track of the crawler type excavator is developed using DADS and ANSYS. Through the driving simulation of the excavator travelling over rough road track, frequency characteristics of the upper frame and cabin are obtained, and the reaction forces acting on the track rollers are also presented for the fatigue life estimation. The effect of boom vibration modes on the joint reaction forces and accelerations is presented from the swing simulation.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.5
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• pp.405-410
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• 2017

This paper deals with 3D simulation of industrial robot for automated manufacturing system. In order to evaluate the operational characteristics of the industrial robot system in the worst case motion scenario, flexible - rigid multibody analysis was performed. Then, the rigid body dynamics analysis was performed and the results were compared with the flexible - rigid multibody analysis. Modal analysis was also performed to confirm the dynamic characteristics of the robot system. In the case of the flexible-rigid multibody simulation, only the structural members of interest were modeled as elastic bodies to confirm the stress state. The remaining structural members were modeled as rigid bodies to reduce computer resources.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.4
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• pp.46-52
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• 2010

A flexible-rigid multibody analysis was pen armed to examine the dynamic response of a heavy handling robot system under a worst motion scenario. A rigid body dynamics analysis was solved and compared with flexible-rigid multibody analysis. The modal analysis and test were also carried out to establish the accuracy and the validation of the finite element model used in this paper. For the flexible-rigid multibody simulation, stresses in several major bodies were interested, so that those parts are flexible and other parts are modeled as rigid body in order to reduce computer resources.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.10
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• pp.2483-2490
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• 1993

This paper presents a systematic formulation for the kinematic and dynamic analysis of flexible multibody systems. The system equations of motion are derived in terms of relative and elastic coordinates using velocity transformation technique. The position transformation equations that relate the relative and elastic coordinates to the Cartesian coordinates for the two contiguous flexible bodies are derived. The velocity transformation matrix is derived systematically corresponding to the type of kinematic joints connecting the bodies and system path matrix. This matrix is employed to represent the equations of motion in relative coordinate space. Two examples are taken to test the method developed here.