St-Onge, David and 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)
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Abstract
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.
| Item Type: | Conference proceeding |
|---|---|
| Professor: | Professor St-Onge, David |
| Affiliation: | Autres |
| Date Deposited: | 08 Jul 2019 14:42 |
| Last Modified: | 14 Aug 2019 14:59 |
| URI: | https://espace2.etsmtl.ca/id/eprint/18926 |
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