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Research Papers

Graph-Based Modeling of Nonhomogeneous One-Dimensional Multibody Systems With Arbitrary Topology

[+] Author and Article Information
Stefania Tonetti

Dipartimento di Ingegneria Aerospaziale, Politecnico di Milano, via La Masa 34, 20156 Milano, Italytonetti@aero.polimi.it

Pierangelo Masarati1

Dipartimento di Ingegneria Aerospaziale, Politecnico di Milano, via La Masa 34, 20156 Milano, Italymasarati@aero.polimi.it

1

Corresponding author.

J. Comput. Nonlinear Dynam 6(3), 031011 (Feb 02, 2011) (8 pages) doi:10.1115/1.4003030 History: Received March 11, 2010; Revised November 03, 2010; Published February 02, 2011; Online February 02, 2011

This paper presents a method to study multibody system dynamics based on graph theory. The transfer function between any pair of bodies of nonhomogeneous multibody systems with arbitrary topology can be computed without any matrix inversion. The analysis is limited to one-dimensional topologies for clarity, although it can be extended to systems with higher dimensions. Examples illustrate its application to topologies of increasing complexity.

Copyright © 2011 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Heterogeneous string: rigid bodies connected by linear springs

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Figure 2

Heterogeneous string: dummy mass

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Figure 3

Heterogeneous string: outgoing and returning graphs

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Figure 4

Heterogeneous string: Bode plot of Eq. 15

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Figure 5

Heterogeneous string: Bode plot of Eq. 21

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Figure 6

Heterogeneous string: global graph representation

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Figure 7

Heterogeneous string: Bode plot of the transfer function from the linear actuator to the free-end mass

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Figure 8

Homogeneous string: Bode plot of the transfer function from the linear actuator to the free-end mass

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Figure 9

Homogeneous loop: rigid bodies connected by linear springs

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Figure 10

Homogeneous loop: dummy mass

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Figure 11

Homogeneous loop: outgoing and returning graphs

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Figure 12

Homogeneous loop: Bode plot of Eq. 35

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Figure 13

Homogeneous loop: Bode plot of Eq. 39

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Figure 14

Homogeneous loop: global graph representation

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Figure 15

Homogeneous loop: Bode plot of the transfer function from the linear actuator to the free-end mass

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