Inertia transfer concept based general method for the determination of the base inertial parameters
Fecha
2015Versión
Acceso abierto / Sarbide irekia
Tipo
Artículo / Artikulua
Versión
Versión aceptada / Onetsi den bertsioa
Impacto
|
10.1007/s11044-014-9446-3
Resumen
This paper presents a new algorithm to obtain the symbolic expressions of any of the possible base inertial parameter sets of a multibody system. Based on the ¿inertia transfer concept¿, a procedure is proposed to write a system of equations from which the base parameters are obtained. This leads to an automatizable and general method to obtain these parameters symbolically. The method can also b ...
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This paper presents a new algorithm to obtain the symbolic expressions of any of the possible base inertial parameter sets of a multibody system. Based on the ¿inertia transfer concept¿, a procedure is proposed to write a system of equations from which the base parameters are obtained. This leads to an automatizable and general method to obtain these parameters symbolically. The method can also be used to determine base inertial parameters numerically, and it can be even more straightforward to implement and use than the standard numerical methods. An example is presented to illustrate in detail the application of the algorithm, and to compare its results with those of a standard numerical procedure. The symbolic base inertial parameters can be of interest in symbolic simplification of the dynamic equations for real-time applications, design optimization, dynamic parameter identification, model reduction, and in other fields. [--]
Materias
Base inertial parameters,
Symbolic,
Real-time,
Parameter identification,
Model reduction
Editor
Springer
Publicado en
Multibody System Dynamics (2015), vol. 34(4)
Departamento
Universidad Pública de Navarra. Departamento de Ingeniería /
Nafarroako Unibertsitate Publikoa. Ingeniaritza Saila /
Universidad Pública de Navarra/Nafarroako Unibertsitate Publikoa. Institute of Smart Cities - ISC
Versión del editor
Entidades Financiadoras
This research has been partially supported by the Spanish Government grants DPI2010-20814-C02-01 (IDEMOV) and IPT-2011-1149-370000 (EUROCIVIS).