NDLI: Efficient simulation of a multilayer viscoelastic beam using an equivalent homogeneous beam

Content Provider	IEEE Xplore Digital Library
Author	Piedboeuf, J.-C. Page, L.-L. Tremblay, I. Potvin, M.-J.
Copyright Year	1999
Description	Author affiliation: Spacecraft Eng., Canadian Space Agency, St. Hubert, Que., Canada (Piedboeuf, J.-C.)
Abstract	Addition of viscoelastic layers on flexible beam improves the behavior of flexible robots. However, the time domain simulation of such multilayer flexible beams is usually done through finite elements which makes it very time consuming. This paper proposes to build an equivalent homogenous flexible beam such that the flexible manipulator can be simulated using the variety of efficient methods developed in robotics. We propose a method to develop the equivalent Voigt-Kelvin model based on the frequency response obtained from the finite-element model. Then, we evaluate the performance of the model by simulating an experimental slewing beam covered with constrained viscoelastic material. The results are very satisfactory and the simulation is one hundred times faster than with the finite element method.
Starting Page	1188
Ending Page	1193
File Size	545165
Page Count	6
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.772523
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Nonhomogeneous media Viscosity Elasticity Finite element methods Mathematical model Orbital robotics Frequency response Robots Costs Packaging
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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