Research Initiation Award: Dynamics and Stability of Multi-Flexible/Rigid-Body Systems Using Geometrically-Exact Theories: Formulation & Computation

研究启动奖：使用几何精确理论的多柔性/刚体系统的动力学和稳定性：公式

• 批准号: 8909153
• 负责人: Loc Vu-Quoc
• 金额: --
• 依托单位: University of Florida
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1989
• 资助国家: 美国
• 起止时间: 1989-08-15 至 1992-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8909153&HistoricalAwards=false
• 关键词: Research; Initiation; Award; Dynamics; Stability

This research is a response to the need for the development of a unified formulation for the dynamics of multi flexible/rigid body systems, and for the development of computational methods for efficient integration of the equations of motion of such systems. This unification of multibody dynamics formulations is founded upon the concept of geometrically exact structural theories, theories which are nonlinear in character and where the geometry of deformation is exactly described and deformation can be large. The claim is made that the geometrically exact structure formulation can be used to treat closed loop chains with flexible links and avoid the difficulties imposed by non holonomic constraints when traditional methods are employed. To pave the way to the above stated goal, this project explores several specific topics related to flexible multibody systems. These include 1) development of a unified formulation for multi body systems using geometrically exact structural models; 2) study of the accuracy and stability characteristics of component digital/algebraic equations; 3) formulation of geometrically exact models for beams with prismatic joints; 4) incorporation of gyro elastic material into the geometrically exact beam model; 5) study of the implementation of cell to cell mapping to evaluate the stability of geometrically exact models in a parallel computing environment. This research is broad in scope, fundamental in nature, and interdisciplinary in content. Its successful completion will have a measurable impact on the unification goal alluded to earlier. Tools developed herein can be used to assess the dynamic response and stability of multi flexible/rigid body systems which are prevalent in robotics, machine design, high speed ground transportation vehicles, aircraft and spacecraft technologies.

这项研究是为了满足开发多柔性/刚体系统动力学统一公式的需求，以及开发有效积分此类系统运动方程的计算方法的需求。 多体动力学公式的这种统一是建立在几何精确结构理论的概念之上的，这些理论本质上是非线性的，并且变形的几何形状被精确描述并且变形可能很大。 据称，几何精确的结构公式可用于处理具有柔性链接的闭环链，并避免采用传统方法时非完整约束带来的困难。 为了为实现上述目标铺平道路，该项目探讨了与灵活多体系统相关的几个特定主题。 其中包括 1) 使用几何精确结构模型开发多体系统的统一公式； 2）分量数字/代数方程的精度和稳定性特性研究； 3）制定具有棱柱形节点的梁的几何精确模型； 4）将陀螺弹性材料纳入几何精确的梁模型中； 5）研究单元到单元映射的实现，以评估并行计算环境中几何精确模型的稳定性。 本研究范围广泛、基础性强、内容跨学科。 它的成功完成将对之前提到的统一目标产生重大影响。 本文开发的工具可用于评估多柔性/刚体系统的动态响应和稳定性，这些系统在机器人、机器设计、高速地面运输车辆、飞机和航天器技术中普遍存在。