Abstract

This paper establishes a new formulation strategy for a flexible beam with large rotational motion. The finite element based formulation, which was previously developed for the analysis of the ‘Spaghetti Problem’ by the present authors, is extended to realize a low order and high accuracy beam model using a kind of component mode synthesis method. The deformation of the flexible beam is modeled by a combination of a static mode represented by a shape function and an analytically evaluated vibration mode clamed at both ends with respect to the body coordinate system. The body coordinate system satisfies the condition that the x-axis connects both ends of the beam. To demonstrate the efficiency and validity of the flexible beam model in multibody dynamics, a 2-link flexible robot arm is modeled as a flexible multibody system consisting of some rigid bodies and two flexible beams. Its validity is indicated by good agreement between numerical simulations and the experimental results.

This content is only available via PDF.
You do not currently have access to this content.