Forward Dynamics of Variable Topology Mechanisms ? The Case of Constraint Activation
Sprache des Vortragstitels:
ECCOMAS Thematic Conference on Multibody Dynamics 2015
Sprache des Tagungstitel:
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.