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Reduction of degree of freedom in flexible multibody system

Research Project

Project/Area Number 23560267
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Dynamics/Control
Research InstitutionAoyama Gakuin University

Principal Investigator

KOBAYASHI Nobuyuki  青山学院大学, 理工学部, 教授 (70276020)

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)
Project Period (FY) 2011 – 2013
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2013: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2012: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2011: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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 / 極柔軟梁 / 運動制御 / 柔軟マルチボディダイナミクス / multibody dynamics / 振動制御
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.

Report

(4 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Research-status Report
  • 2011 Research-status Report
  • Research Products

    (35 results)

All 2014 2013 2012 2011 Other

All Journal Article (7 results) (of which Peer Reviewed: 3 results) Presentation (28 results)

  • [Journal Article] モード合成法によるANCF 3次元梁の自由度の低次元化(24自由度梁要素について)2014

    • Author(s)
      門倉皓介,小林信之
    • Journal Title

      日本機械学会論文集

      Volume: 80-814(印刷中) Pages: 1-12

    • NAID

      130005004879

    • Related Report
      2013 Final Research Report
  • [Journal Article] モード合成法を用いたANCF板のシステム行列の自由度縮小2014

    • Author(s)
      岡澤佑弥,小林信之,鳥阪綾子
    • Journal Title

      日本機械学会論文集

      Volume: 80-813 Pages: 1-12

    • NAID

      130004728615

    • Related Report
      2013 Final Research Report
  • [Journal Article] モード合成法を用いたANCF板のシステム行列の自由度縮小2014

    • Author(s)
      岡澤 佑弥,小林 信之,鳥阪 綾子
    • Journal Title

      日本機械学会論文集

      Volume: 80

    • NAID

      130004728615

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 中立軸に沿った平均軸ひずみ評価によるANCF梁要素の軸弾性力の精度向上2013

    • Author(s)
      和後翼,小林信之,菅原佳城
    • Journal Title

      日本機械学会論文集C編

      Volume: 79-804 Pages: 2704-2713

    • NAID

      130003375140

    • Related Report
      2013 Final Research Report
  • [Journal Article] 薄肉円筒液体容器の周方向波数が高さ方向に変化する振動モードに関する考察2013

    • Author(s)
      永井裕二,村松幸治,小林信之,鳥阪綾子
    • Journal Title

      日本機械学会論文集C編

      Volume: 79-776 Pages: 1321-1330

    • NAID

      130003375048

    • Related Report
      2013 Final Research Report
  • [Journal Article] Improvement on Evaluating Axial Elastic Force in Beam Element Based on the Absolute Nodal Coordinate Formulation by Accurate Mean Axial Strain Measure2013

    • Author(s)
      和後 翼,小林 信之,菅原 佳城
    • Journal Title

      TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

      Volume: 79 Issue: 804 Pages: 2704-2713

    • DOI

      10.1299/kikaic.79.2704

    • NAID

      130003375140

    • ISSN
      0387-5024, 1884-8354
    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 薄肉円筒液体容器の周方向波数が高さ方向に変化する振動モードに関する考察2013

    • Author(s)
      永井 裕二,村松 幸治, 小林 信之,鳥阪 綾子
    • Journal Title

      日本機械学会論文集,C編

      Volume: 79 Pages: 1-10

    • NAID

      130003375048

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Presentation] 極柔軟梁の大変形制御2013

    • Author(s)
      坂本渉,小林信之,鳥阪綾子
    • Organizer
      日本機械学会機械力学・計測制御部門講演論文アブストラクト集
    • Related Report
      2013 Final Research Report
  • [Presentation] モード合成法を用いたANCF板要素のシステム行列の自由度縮退2013

    • Author(s)
      岡澤佑弥,小林信之,鳥阪綾子
    • Organizer
      日本機械学会機械力学・計測制御部門講演論文アブストラクト集
    • Related Report
      2013 Final Research Report
  • [Presentation] 周方向波数が高さ方向に変化する振動モードが励起される薄肉円筒液体容器の地震応答2013

    • Author(s)
      永井裕二,小林信之,鳥阪綾子
    • Organizer
      日本機械学会機械力学・計測制御部門講演論文アブストラクト集
    • Related Report
      2013 Final Research Report
  • [Presentation] 配管に接続されたベローズ管に地震時に生じる係数励振振動2013

    • Author(s)
      寄木諄也,小林信之,鳥阪綾子,渡邉昌宏
    • Organizer
      日本機械学会機械力学・計測制御部門講演論文アブストラクト集
    • Related Report
      2013 Final Research Report
  • [Presentation] 円筒タンクのロッキング時底板浮上り特性に及ぼす円筒断面変形の影響2013

    • Author(s)
      滝沢翔,小林信之,鳥阪綾子
    • Organizer
      日本機械学会機械力学・計測制御部門講演論文アブストラクト集
    • Related Report
      2013 Final Research Report
  • [Presentation] Passive Control of Liquid Sloshing on Floating Roof Tank with Multi Dynamic Absorber2013

    • Author(s)
      Kobayashi, N., Sato, T. and Torisaka, A.
    • Organizer
      ASME IPVP
    • Related Report
      2013 Final Research Report
  • [Presentation] 圧電素子とNIC回路による摺動部を持たない跳躍機構の開発2012

    • Author(s)
      田嶋大地,菅原佳城,鳥阪綾子,小林信之
    • Organizer
      日本機械学会年次大会,CD-ROM講演論文集
    • Related Report
      2013 Final Research Report
  • [Presentation] 薄肉円筒液体容器における周方向波数が液面近傍で変化する振動モードの計測2012

    • Author(s)
      永井裕二,村松幸治,小林信之,鳥阪綾子
    • Organizer
      日本機械学会年次大会,CD-ROM講演論文集
    • Related Report
      2013 Final Research Report
  • [Presentation] 圧電素子を用いたフレキシブルリンクマニピュレータの受動制振制御2012

    • Author(s)
      小島玲央,菅原佳城,鳥阪綾子,小林信之
    • Organizer
      22th Workshop on JAXA Astrodynamics and Flight Mechanics
    • Related Report
      2013 Final Research Report
  • [Presentation] Development of hopping robot with negative stiffness switching circuit via piezo electric element2012

    • Author(s)
      Tajima, D., Sugawara, Y., Kobayashi N. and Torisaka, A.
    • Organizer
      Proceedings of 6th Asian Conference on Multibody Dynamics
    • Place of Presentation
      (CD-Rom)
    • Related Report
      2013 Final Research Report
  • [Presentation] Reduction of Degrees of Freedom in Three-dimensional ANCF Beam Element by Higher Order Shape Function2012

    • Author(s)
      Sugiura,T., Ichikawa, S., Kobayashi, N., Sugawara, Y. and Torisaka, A.
    • Organizer
      Proceedings of 6th Asian Conference on Multibody Dynamics
    • Place of Presentation
      (CD-Rom)
    • Related Report
      2013 Final Research Report
  • [Presentation] 平均軸ひずみ測定の改良によるANCF梁要素における軸弾性力計算精度向上2011

    • Author(s)
      和後翼,小林信之,菅原佳城
    • Organizer
      日本機械学会年次大会,CD-ROM講演論文集
    • Related Report
      2013 Final Research Report
  • [Presentation] 拘束モードを用いたANCF梁要素2011

    • Author(s)
      小林信之,市川章太,杉浦拓夢,菅原佳城
    • Organizer
      21th Workshop on JAXA Astrodynamics and Flight Mechanics
    • Related Report
      2013 Final Research Report
  • [Presentation] Improvement on Evaluating Axial Elastic Force in Bernoulli-Euler Beam Based on the Absolute Nodal Coordinate Formulation by Accurate Approximation of Mean Axial Strain2011

    • Author(s)
      Wago, T., Kobayashi, N., and Sugawara, Y.
    • Organizer
      Proceedings of 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
    • Related Report
      2013 Final Research Report
  • [Presentation] 拘束モードを用いたANCF梁要素2011

    • Author(s)
      小林信之,市川章太,杉浦拓夢,菅原佳城
    • Organizer
      Astrodynamics and Flight Mechanics
    • Place of Presentation
      宇宙航空研究開発機構相模原キャンパス(神奈川県)
    • Related Report
      2011 Research-status Report
  • [Presentation] Improvement on Evaluating Axial Elastic Force2011

    • Author(s)
      T. Wago, N. Kobayashi and Y. Sugawara
    • Organizer
      Multibody Systems, Nonlinear Dynamics and Control
    • Place of Presentation
      Hyatt Regency on Capitol Hill (Washington, D.C., USA)
    • Related Report
      2011 Research-status Report
  • [Presentation] 平均軸ひずみ測定の改良によるANCF梁要素における軸弾性力計算精度向上2011

    • Author(s)
      和後翼,小林信之,菅原佳城
    • Organizer
      日本機械学会年次大会
    • Place of Presentation
      東京工業大学大岡山キャンパス(東京都)
    • Related Report
      2011 Research-status Report
  • [Presentation] Passive Control of Liquid Sloshing on Floating Roof Tank with Multi Dynamic Absorber

    • Author(s)
      Nobuyuki Kobayashi, Tomohiro Sato and Ayako Torisaka,
    • Organizer
      American Society of Mechanical Engineers
    • Place of Presentation
      Paris, France
    • Related Report
      2013 Annual Research Report
  • [Presentation] 円筒タンクのロッキング時底板浮上り特性に及ぼす円筒断面変形の影響

    • Author(s)
      滝沢 翔, 小林 信之,鳥阪 綾子
    • Organizer
      日本機械学会
    • Place of Presentation
      福岡,九州産業大学
    • Related Report
      2013 Annual Research Report
  • [Presentation] 配管に接続されたベローズ管に地震時に生じる係数励振振動

    • Author(s)
      寄木 諄也, 小林 信之,鳥阪 綾子,渡邉 昌宏
    • Organizer
      日本機械学会
    • Place of Presentation
      福岡,九州産業大学
    • Related Report
      2013 Annual Research Report
  • [Presentation] 周方向波数が高さ方向に変化する振動モードが励起される薄肉円筒液体容器の地震応答

    • Author(s)
      永井 裕二,小林 信之,鳥阪 綾子
    • Organizer
      日本機械学会
    • Place of Presentation
      福岡,九州産業大学
    • Related Report
      2013 Annual Research Report
  • [Presentation] モード合成法を用いたANCF板要素のシステム行列の自由度縮退

    • Author(s)
      岡澤 佑弥,小林 信之,鳥阪 綾子
    • Organizer
      日本機械学会
    • Place of Presentation
      福岡,九州産業大学
    • Related Report
      2013 Annual Research Report
  • [Presentation] 極柔軟梁の大変形制御

    • Author(s)
      坂本 渉,小林 信之,鳥阪 綾子
    • Organizer
      日本機械学会
    • Place of Presentation
      福岡,九州産業大学
    • Related Report
      2013 Annual Research Report
  • [Presentation] Reduction of Degrees of Freedom in Three-dimensional ANCF Beam Element by Higher Order Shape Function

    • Author(s)
      Takumu Sugiura, Syota Ichikawa, Nobuyuki Kobayashi, Yoshiki Sugawara and Ayako Torisaka
    • Organizer
      6th Asian Conference on Multibody Dynamics
    • Place of Presentation
      Shanghai, China
    • Related Report
      2012 Research-status Report
  • [Presentation] Development of hopping robot with negative stiffness switching circuit via piezo electric element

    • Author(s)
      Daichi Tajima, Yoshiki Sugawara, Nobuyuki Kobayashi and Ayako Torisaka
    • Organizer
      6th Asian Conference on Multibody Dynamics
    • Place of Presentation
      Shanghai, China
    • Related Report
      2012 Research-status Report
  • [Presentation] 圧電素子を用いたフレキシブルリンクマニピュレータの受動制振制御

    • Author(s)
      小島玲央,菅原佳城,鳥阪 綾子,小林信之
    • Organizer
      22th Workshop on JAXA Astrodynamics and Flight Mechanics
    • Place of Presentation
      相模原,神奈川
    • Related Report
      2012 Research-status Report
  • [Presentation] 薄肉円筒液体容器における周方向波数が液面近傍で変化する振動モードの計測

    • Author(s)
      永井 裕二,村松 幸治, 小林 信之,鳥阪 綾子
    • Organizer
      日本機械学会年次大会
    • Place of Presentation
      金沢,石川
    • Related Report
      2012 Research-status Report
  • [Presentation] 圧電素子とNIC回路による摺動部を持たない跳躍機構の開発

    • Author(s)
      田嶋大地,菅原佳城,鳥阪 綾子,小林信之
    • Organizer
      日本機械学会年次大会
    • Place of Presentation
      金沢,石川
    • Related Report
      2012 Research-status Report

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Published: 2011-08-05   Modified: 2019-07-29  

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