Computational Methods in Mechanical Systems: Mechanism Analysis, Synthesis, and Optimization

434 Pages·1998·10.914 MB·English

by  Jorge Angeles (auth.), Jorge Angeles, Evtim Zakhariev (eds.)

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Series F: Computer and Systems Sciences, Val. 161
Springer-Verlag Berlin Heidelberg GmbH
Computational Methods
in Mechanical Systems
Mechanism Analysis, Synthesis,
and Optimization
Edited by
Jo rge Angeles
Department of Mechanical Engineering
and McGill Centre for Intelligent Machines
McGill University, 817 Sherbrooke Street W.
Montreal, Quebec, Canada H3A 2K6
Evtim Zakhariev
Institute of Mechanics
Bulgarian Academy of Sciences
Acad. G. Bonchev Street, bl. 4
BG-l1l3 Sofia, Bulgaria
Springer
Published in cooperation with NATO Scientific Affairs Division
Proceedings of the NATO Advanced Study Institute on Computational
Methods in Mechanisms, held near Varna, Bulgaria, June 16-28, 1997
Library of Congress Cataloging-in-Publication Data
Computational methods in mechanical systems mechanism analysls.
synthesis and optlmlzatlon ! Jorge Angeles. Evtim Zakharlev.
p. cm. -- (NATO ASI serles. Serles F. Computer and systems
sciences ; val. 161)
Includes bibliographical references and index.
1. Machinery. Kinematics of. 2. Machinery, Dynamics of.
3. Engineering mathematics. r. Angeles, Jorge, 1943-
Ir. Zakhariev, Evtlm, 1951- III. Series.
TJ175.C66 1998
621.8' 15--dc21 98-10329
CIP
CR Subject Classification (1991): J.6, 1.6
ISBN 978-3-642-08369-3 ISBN 978-3-662-03729-4 (eBook)
DOI 10,1007/978-3-662-03729-4
This work is subject to copyright. All rights are reserved, whether the whole or part of the
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the German Copyright Law.
© Springer-Verlag Berlin Heidelberg 1998
Originally published by Springer-Verlag Berlin Heidelberg New York 1998.
Softcover reprint of the hardcover 1s t edition 1998
Typesetting: Camera-ready by authors
Printed on acid-free paper
SPIN: 10648745 45/3142 - 5 432 1 0
Preface
The chapters of this book summarize the lectures delivered du ring the NATO
Advanced Study Institute (ASI) on Computational Methods in Mechanisms,
that took place in the Sts. Constantin and Elena Resort, near Varna, on
the Bulgarian Coast of the Black Sea, June 16-28, 1997. The purpose of
the ASI was to bring together leading researchers in the area of mechanical
systems at large, with special emphasis in the computational issues around
their analysis, synthesis, and optimization, during two weeks of lectures and
discussion. A total of 89 participants from 23 count ries played an active role
during the lectures and sessions of contributed papers. Many of the latter are
being currently reviewed for publication in specialized journals.
The subject of the book is mechanical systems, Le., systems composed of
rigid and flexible bodies, coupled by mechanical means so as to constrain their
various bodies in a goal-oriented manner, usually driven under computer con
trol. Applications of the discipline are thus of the most varied nature, ranging
from transportation systems to biomedical devices. U nder normal operation
conditions, the constitutive bodies of a mechanical system can be consid
ered to be rigid, the rigidity property then easing dramatically the analysis
of the kinematics and dynamics of the system at hand. Examples of these
systems are the suspension of a terrestrial vehicle negotiating a curve at
speeds within the allowed or recommended limits and the links of multiaxis
industrial robots performing conventional pick-and-place operations. Many
an application, however, calls for an analysis that considers the flexibility
of the various links, as is the case in light devices like the solar panels of a
satellite undergoing a reorientation maneuver, or the body of a high-speed
train experiencing a collision. The correct operation of systems like those
mentioned above, which are set to work under increasingly demanding condi
tions, calls for increasingly detailed and accurate analyses both at the design
stage and when driven under computer control. Hence the need io review the
state of the art in areas pertaining to the mechanics of multibody systems.
The book is intended to cover a broad scope of multibody-system me
chanics, from the kinematics fundamehtals to applications such as motion
simulator design and crashworthiness evaluation by simulation means. We
have thus divided the book into three parts: Kinematics of Mechanical Sys
tems; Dynamics and Control of Rigid-Body Systems; and Dynamics of Flexi
ble Multibody Systems. With this organization of the book, the reader should
be able to find quickly the chapter of his or her own interest.
VI
The book is, in a way, a follow-up of that containing the lectures of the
NATO ASI on Computer-Aided Analysis 0/ Rigid and Flexible Mechanical
Systems, held in Tr6ia, Portugal, from June 27 to July 9, 1993, and published
by Kluwer Academic Publishers in 1994. Besides including techniques and
software developed in the last four years since that ASI, the present book
includes a greater component of kinematics than the previous one. In fact,
seven chapters out of a total of sixteen are devoted to this discipline.
The reader will find review chapters on topics such as optimization of
multi-dof mechanisms, with classical and modern techniques, and on the
dynamics of mechanical systems with flexible bodies. Besides, chapters on
elimination techniques based on computer-algebra software in the realm of
computational kinematics, as well as on design techniques, are included. Ad
vanced software for design and simulation is introduced in some chapters.
The sponsors of the ASI on Computational Methods in Mechanisms are cited
below. Herewith we acknowledge dutifully their support.
- NATO Scientific and Environmental Affairs Division;
- Ministry of Defense of Bulgaria;
- Ministry of Foreign Affairs of Bulgaria;
- National Science Fund MM 526/95, Ministry of Education, Science and
Technology of Bulgaria;
- U.S. National Science Foundation;
- Institute of Mechanics, Bulgarian Academy of Sciences;
- Department of Mechanical Engineering, McGill University; and
- Centre for Intelligent Machines, McGill University.
The Organizing Committee of the NATO ASI was composed of:
- Prof. Jorge Angeles, McGill University, Montreal, Que., Canada
- Prof. Nikolai Denchev, Director of the Research Institute of the Ministry
of Defense of Bulgaria;
- Prof. Clement Gosselin, Laval University, Quebec City, Que., Canada;
- Prof. Edward J. Haug, The University of Iowa, Iowa City, IN, USA;
- Prof. Bojan M. Petkov, Assistant Minister of Research, Science, and Tech-
nology of Bulgaria;
- Professor Bernard Roth, Stanford University, Stanford, CA, USA; and
- Dr. Evtim V. Zakhariev, Academy of Sciences of Bulgaria, Sofia.
All members of the Organizing Committee played a key role both in the
organization of the ASI and in the editing of the book.
Finally, the assistance of Ms. Irene Cartier and Ms. ChinPun Teng in the
editing of this book is herewith gratefully acknowledged. The technical as
sistance of Dr. Hans Woessner and Mr. J. Andrew Ross, of Springer-Verlag
Heidelberg, was crucial in the production of this work.
Jorge Angeles and Evtim Zakhariev, December 1997
Table of Contents
Preface v
0000000000000000000000000000000000000000000000000000 0 0 0
Part I. Kinematics of Mechanical Systems
1. The Application of Dual Algebra to Kinematic Analysis
J Angeles 3
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
2. Formulation and Solution for the Direct
and Inverse Kinematics Problems for Mechanisms
and Mechatronics Systems
Jo Nielsen and Bo Roth 33
00000000000000000000000000000000000000
3. The Design of Spherical 4R Linkages
for Four Specified Orientations
Do Ao Ruth and Jo Mo McCarthy 53
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
4. On the Design ofEfficient Parallel Mechanisms
Co Mo Gosselin 68
0000000000000000000000000000000000000000000000
5. Optimization ofMulti-DOF Mechanisms
Po Chedmail 97
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6. Computational Issues in the Kinematic Design
of Tactile Sensing Fixtures
Wo Wo Nederbragt and Bo Ravani 130
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
7. N umerical Methods for Mechanism and Manipulator
Workspace Analysis
E. Jo Haug, Fo Ao Adkins, and Co-Mo Luh 144
0000000000000000000000
VIII
Part 11. Dynamics and Control of Rigid-Body Systems
8. Equations ofMotion in Tensor Variables
and Their Application to Multibody Systems
L. Lilov and N. Vassileva .................................... 167
9. Efficient Description and Geometrical Interpretation
of the Dynamics of Constrained Systems
H. Brauchli ................................................ 197
10. A Generic Numerical Method for Mechanical System
Kinematics and Dynamics Modeling
E. Zakhariev ............................................... 212
11. Implicit Integration ofthe Equations ofMultibody
Dynamics
E. J. Haug, D. Negrut, and M. Iancu ......................... 242
12. Models for Simulation ofPower-Steering Systems
R. Dürr and W. Schiehlen .................................... 268
13. Control of Robotic Systems by Exact Linearization
C. Woernle ................................................. 296
Part 111. Dynamics of Flexible Multibody Systems
14. Flexible Bodies in Multibody Systems
R. Schwertassek ............................................ 329
15. Parallelization ofLarge Mechanical Engineering Codes.
A Case Study for the Multibody Simulation Package
FEDEM
A. Marthinsen and O. 1. Sivertsen ............................ 364
16. Flexible Multibody Dynamics with Nonlinear Deformations:
Vehicle Dynamics and Crashworthiness Applications
J. A. C. Ambrosio and M. F. O. S. Pereira .................... 382
Index ......................................................... 421
List of Contributors
c.
J. A. Ambrosio C. M. Gosselin
IDMEC - Polo do LS.T. Laval University
Av. Rovisco Pais Mechanical Engineering Dept.
P-1096 Lisboa Codex Ste.-Foy, Quebec
Portugal Canada G1K 7P4
[email protected] gosselin@gmc. ulaval.ca
J. Angeles
Department of Mechanical E. J. Haug
Engineering & McGill Centre CAD-Research Engineering
for Intelligent Machines 2136 EB
McGill University The University of Iowa
817 Sherbrooke St. W. Iowa City, IA 52242
Montreal, Quebec USA
Canada H3A 2K6 [email protected]
[email protected]
H. Brauchli L. K. Lilov
Institut für Mechanik Sofia University
HG F38.1 Department of Mathematics
ETH Zentrum and Informatics
CH-8092 Zurich James Bouchier Street 5
Switzerland BG-1126 Sofia
[email protected] Bulgaria
[email protected]
P. Chedmail
IRCyN
Unite mixte de Recherche C.N.R.S. J. M. McCarthy
UMR 6597 Department of Mechanical
Ecole centrale de N antes Engineering
1, rue de la Noe University of California
BP 92101 Irvine, CA 92717
F-44321 Nantes Cedex 3, France USA
[email protected] jmmccart@ucLedu