Print Email Facebook Twitter A constrained generalised-? method for coupling rigid parallel chain kinematics and elastic bodies Title A constrained generalised-? method for coupling rigid parallel chain kinematics and elastic bodies Author Gransden, D.I. Burkhard Bornemann, P. Rose, M. Nitzsche, F. Faculty Aerospace Engineering Department Aerospace Structures & Materials Date 2015-01-21 Abstract A problem arises from combining flexible rotorcraft blades with stiffer mechanical links, which form a parallel kinematic chain. This paper introduces a method for solving index-3 differential algebraic equations for coupled stiff and elastic body systems with closed-loop kinematics. Rigid body dynamics and elastic body mechanics are independently described according to convenient mathematical measures. Holonomic constraint equations couple both the parallel chain kinematics and describe the coupling between the rigid and continuum bodies. Lagrange multipliers enforce the kinetic conditions for both sets of constraints. Additionally, to prevent numerical inaccuracy from inverting stiff mechanical matrices, a scaling factor normalises the dynamic tangential stiffness matrix. Finally, example tests show the verification of the algorithm with respect to existing computational tests and the accuracy of the model for cases relevant to the problem definition. Subject dynamicsclosed-chain kinematicsconstraintsLagrange multipliersCG?CG ? To reference this document use: http://resolver.tudelft.nl/uuid:0519a729-b906-4171-9a52-fcebdb3bf5cc Publisher Springer ISSN 0178-7675 Source https://doi.org/10.1007/s00466-015-1120-y Source Computational Mechanics, 2015 Part of collection Institutional Repository Document type journal article Rights © 2015 The Author(s)This article is published with open access at Springerlink.com Files PDF Gransden_2015.pdf 860.27 KB Close viewer /islandora/object/uuid:0519a729-b906-4171-9a52-fcebdb3bf5cc/datastream/OBJ/view