Redundancy in constraining of mechanical systems achieves more stability and larger load capacity for the system, while in actuation it provides better robustness against singularities and higher maneuvrability. Few techniques have been developed to handle redundancy and singularities in dynamics analysis, yet difficulties and mathematical problems continue to manifest. This paper expands on the existing penalty techniques and incorporates the concept of actuating/passive constraints to present an elegant penalty formulation that is capable of efficiently handling singularities and redundancy in constraining and actuation and can carry out either forward or inverse dynamics analysis of mechanical systems. As such, the proposed approach is referred to as the actuating/passive constraints penalty approach, or the APCPA.
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ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 30–September 2, 2009
San Diego, California, USA
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4901-9
PROCEEDINGS PAPER
A Penalty Formulation for Dynamics Analysis of Redundant Mechanical Systems Available to Purchase
Bilal Ruzzeh,
Bilal Ruzzeh
McGill University, Montre´al, QC, Canada
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Jo´zsef Ko¨vecses
Jo´zsef Ko¨vecses
McGill University, Montre´al, QC, Canada
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Bilal Ruzzeh
McGill University, Montre´al, QC, Canada
Jo´zsef Ko¨vecses
McGill University, Montre´al, QC, Canada
Paper No:
DETC2009-87733, pp. 1583-1591; 9 pages
Published Online:
July 29, 2010
Citation
Ruzzeh, B, & Ko¨vecses, J. "A Penalty Formulation for Dynamics Analysis of Redundant Mechanical Systems." Proceedings of the ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C. San Diego, California, USA. August 30–September 2, 2009. pp. 1583-1591. ASME. https://doi.org/10.1115/DETC2009-87733
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