2013 Fiscal Year Final Research Report
Reduction of degree of freedom in flexible multibody system
| Project/Area Number |
23560267
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Aoyama Gakuin University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
SUGAWARA Yoshiki 秋田大学, 工学資源学研究科, 准教授 (10422320)
TORISAKA Ayako 青山学院大学, 理工学部, 助教 (70449338)
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| Project Period (FY) |
2011 – 2013
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| Keywords | 機械力学・制御 / マルチボディダイナミクス / 低次元化 / 極柔軟構造物 / 拘束系 / モード合成法 |
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| Research Abstract |
This study was aimed at developing a high precision and reduced order model for the extremely flexible body undergoing large rotation and large deformation in order to design a controller for such a highly nonlinear system. As the result, the proposed reduced order model which uses a kind of component mode synthesis method enables to reduce the dimension size of the system matrix of flexible body and is verified to keep the numerical accuracy. Moreover it is also verified the present model can be applicable to design a controller of the mobile robot with extremely flexible link which is similar to floor gymnastics by numerical simulation.
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