Publicação
Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches
| Resumo: | This work aims at presenting, in a comprehensive manner, several approaches to model and simulate closed loop topologies using the classical Lagrangian formulation. One of the great advantages of the Lagrangian approach is its simplicity and easiness of obtaining the equations of motion. However, a critical aspect arises when the mechanical systems include closed loop topologies, since the process of deriving the equations of motion becomes a complex task. The key point of the present study is to convert the closed loop nature into open systems, which ultimately simplifies the modeling process when the Lagrangian formulation is utilized. For this purpose, three different methods are considered, namely those based on the cut joint approach, the clearance joint constraint model, and the elastic joint formulation are used. In the sequel of this process, a slider-crank mechanism is utilized as a demonstrative application example, and the main results are compared with those obtained with the well-established Newton-Euler method for constrained multibody systems. Moreover, this example allows the comparison of the main characteristics and peculiarities of the described approaches. |
|---|---|
| Autores principais: | Marques, Filipe |
| Outros Autores: | Flores, Paulo; Roupa, Ivo; Silva, Miguel T.; Lankarani, Hamid M. |
| Assunto: | Newton-euler method Lagrangian formulation Closed loop kinematic chains Open systems Multibody system dynamics |
| Ano: | 2021 |
| País: | Portugal |
| Tipo de documento: | artigo |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| _version_ | 1866875486843437056 |
|---|---|
| author | Marques, Filipe |
| author2 | Flores, Paulo Roupa, Ivo Silva, Miguel T. Lankarani, Hamid M. |
| author2_role | author author author author |
| author_facet | Marques, Filipe Flores, Paulo Roupa, Ivo Silva, Miguel T. Lankarani, Hamid M. |
| author_role | author |
| contributor_name_str_mv | Universidade do Minho |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Marques, Filipe\"},{\"Person.name\":\"Flores, Paulo\"},{\"Person.name\":\"Roupa, Ivo\"},{\"Person.name\":\"Silva, Miguel T.\"},{\"Person.name\":\"Lankarani, Hamid M.\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Universidade do Minho |
| datacite.creators.creator.creatorName.fl_str_mv | Marques, Filipe Flores, Paulo Roupa, Ivo Silva, Miguel T. Lankarani, Hamid M. |
| datacite.date.Accepted.fl_str_mv | 2021-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2023-03-07T09:21:19Z |
| datacite.date.embargoed.fl_str_mv | 2023-03-07T09:21:19Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| datacite.subjects.subject.fl_str_mv | Newton-euler method Lagrangian formulation Closed loop kinematic chains Open systems Multibody system dynamics |
| datacite.titles.title.fl_str_mv | Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches |
| dc.contributor.none.fl_str_mv | Universidade do Minho |
| dc.creator.none.fl_str_mv | Marques, Filipe Flores, Paulo Roupa, Ivo Silva, Miguel T. Lankarani, Hamid M. |
| dc.date.Accepted.fl_str_mv | 2021-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2023-03-07T09:21:19Z |
| dc.date.embargoed.fl_str_mv | 2023-03-07T09:21:19Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | https://hdl.handle.net/1822/83056 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Elsevier |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| dc.subject.none.fl_str_mv | Newton-euler method Lagrangian formulation Closed loop kinematic chains Open systems Multibody system dynamics |
| dc.title.fl_str_mv | Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_6501 |
| description | This work aims at presenting, in a comprehensive manner, several approaches to model and simulate closed loop topologies using the classical Lagrangian formulation. One of the great advantages of the Lagrangian approach is its simplicity and easiness of obtaining the equations of motion. However, a critical aspect arises when the mechanical systems include closed loop topologies, since the process of deriving the equations of motion becomes a complex task. The key point of the present study is to convert the closed loop nature into open systems, which ultimately simplifies the modeling process when the Lagrangian formulation is utilized. For this purpose, three different methods are considered, namely those based on the cut joint approach, the clearance joint constraint model, and the elastic joint formulation are used. In the sequel of this process, a slider-crank mechanism is utilized as a demonstrative application example, and the main results are compared with those obtained with the well-established Newton-Euler method for constrained multibody systems. Moreover, this example allows the comparison of the main characteristics and peculiarities of the described approaches. |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | article |
| fulltext.url.fl_str_mv | https://prod-dspace.uminho.pt/bitstreams/27f8d703-05d8-4f06-94fd-e7e99cb5d218/download |
| id | rum_754d2fc892b7a60e9822baaedbdfbc8e |
| identifier.url.fl_str_mv | https://hdl.handle.net/1822/83056 |
| instacron_str | repositorium |
| institution | Universidade do Minho |
| instname_str | Universidade do Minho |
| language | eng |
| network_acronym_str | rum |
| network_name_str | RepositóriUM - Universidade do Minho |
| oai_identifier_str | oai:repositorium.uminho.pt:1822/83056 |
| organization_str_mv | urn:organizationAcronym:repositorium |
| person_str_mv | Marques, Filipe Flores, Paulo Roupa, Ivo Silva, Miguel T. Lankarani, Hamid M. |
| publishDate | 2021 |
| publisher.none.fl_str_mv | Elsevier |
| reponame_str | RepositóriUM - Universidade do Minho |
| repository_id_str | urn:repositoryAcronym:rum |
| service_str_mv | urn:repositoryAcronym:rum |
| spelling | engElsevierporThis work aims at presenting, in a comprehensive manner, several approaches to model and simulate closed loop topologies using the classical Lagrangian formulation. One of the great advantages of the Lagrangian approach is its simplicity and easiness of obtaining the equations of motion. However, a critical aspect arises when the mechanical systems include closed loop topologies, since the process of deriving the equations of motion becomes a complex task. The key point of the present study is to convert the closed loop nature into open systems, which ultimately simplifies the modeling process when the Lagrangian formulation is utilized. For this purpose, three different methods are considered, namely those based on the cut joint approach, the clearance joint constraint model, and the elastic joint formulation are used. In the sequel of this process, a slider-crank mechanism is utilized as a demonstrative application example, and the main results are compared with those obtained with the well-established Newton-Euler method for constrained multibody systems. Moreover, this example allows the comparison of the main characteristics and peculiarities of the described approaches.application/pdfporExamination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approachesMarques, FilipeFlores, PauloRoupa, IvoSilva, Miguel T.Lankarani, Hamid M.HostingInstitutionOrganizationalUniversidade do Minhoe-mailmailto:repositorium@usdb.uminho.ptrepositorium@usdb.uminho.ptISSNIsPartOf0094-114XDOIIsPartOf10.1016/j.mechmachtheory.2021.1042942023-03-07T09:21:19Z20212021-01-01T00:00:00ZHandlehttps://hdl.handle.net/1822/83056http://purl.org/coar/access_right/c_abf2open accessNewton-euler methodLagrangian formulationClosed loop kinematic chainsOpen systemsMultibody system dynamics3592771 bytesliteraturehttp://purl.org/coar/resource_type/c_6501journal articlehttp://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://prod-dspace.uminho.pt/bitstreams/27f8d703-05d8-4f06-94fd-e7e99cb5d218/download |
| spellingShingle | Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches Marques, Filipe Newton-euler method Lagrangian formulation Closed loop kinematic chains Open systems Multibody system dynamics |
| status | SINGLETON |
| subject.fl_str_mv | Newton-euler method Lagrangian formulation Closed loop kinematic chains Open systems Multibody system dynamics |
| title | Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches |
| title_full | Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches |
| title_fullStr | Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches |
| title_full_unstemmed | Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches |
| title_short | Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches |
| title_sort | Examination and comparison of different methods to model closed loop kinematic chains using Lagrangian formulation with cut joint, clearance joint constraint and elastic joint approaches |
| topic | Newton-euler method Lagrangian formulation Closed loop kinematic chains Open systems Multibody system dynamics |
| topic_facet | Newton-euler method Lagrangian formulation Closed loop kinematic chains Open systems Multibody system dynamics |
| url | https://hdl.handle.net/1822/83056 |
| visible | 1 |