St-Onge, David et Gosselin, Clément.
2016.
« Dynamic modelling of a four-bar free floating mechanism with passive joints and flywheel actuators ».
In The Fourth Joint International Conference on Multibody SystemDynamics (IMSD) (Montreal, QC, Canada, May 29-June 2, 2016)
Prévisualisation |
PDF
St-Onge D 2016 18926.pdf - Version acceptée Licence d'utilisation : Tous les droits réservés aux détenteurs du droit d'auteur. Télécharger (338kB) | Prévisualisation |
Résumé
This paper introduces a novel actuation approach for a free-floating four-bar planar mechanism. In the proposed arrangement, which is mainly geared towards space applications, the configuration and orientation of the mechanism is controlled by flywheels mounted on each of the links, while the joints connecting the links are passive. The dynamic model of the system is derived using Kane’s equations, adapted for a closed-chain multibody system. Simulation results are presented to confirm the approach. The stability of the resolution of the equations is then investigated using the condition number of the generalized inertia matrix and the impact of the geometric parameters on this stability is studied.
| Type de document: | Compte rendu de conférence |
|---|---|
| Professeur: | Professeur St-Onge, David |
| Affiliation: | Autres |
| Date de dépôt: | 08 juill. 2019 14:42 |
| Dernière modification: | 14 août 2019 14:59 |
| URI: | https://espace2.etsmtl.ca/id/eprint/18926 |
Actions (Authentification requise)
 |
Dernière vérification avant le dépôt |