Approaching Linear Elastic Deformations of Flexible Bodies via Screw Theory

Bertold Bongardt*, Jan de Jong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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Abstract

The theory of screws can be seen as a central tool for modeling the kinematics and dynamics of spatial mechanisms, in particular robotic systems. Since screw theory is based on the assumption of perfect rigid bodies, it is not readily applicable to the analysis of flexible systems. This paper intends to contribute to an integral view of ‘displacements of rigid bodies’ and ‘deformations of flexible bodies’ by considering the geometry of linear spatial deformations in analogy to the geometry of linear spatial displacements. For this purpose, the principle of transference is applied to the system of double numbers. Thus, a dual-number based formalism for modeling linear deformations of flexible bodies is proposed including sibling versions of the Mozzi–
Chasles theorem and the Euler–Rodrigues formula.
Original languageEnglish
Title of host publicationECCOMAS Thematic Conference on Multibody Dynamics July 24 - 28, 2023, Lisbon, Portugal
Publication statusPublished - 23 Jun 2023
Event11th ECCOMAS Thematic Conference on Multibody Dynamics 2023 - Instituto Superior Técnico (IST) Congress Center , Lisbon, Portugal
Duration: 24 Jul 202328 Jul 2023
Conference number: 11
https://multibody2023.tecnico.ulisboa.pt/

Conference

Conference11th ECCOMAS Thematic Conference on Multibody Dynamics 2023
Country/TerritoryPortugal
CityLisbon
Period24/07/2328/07/23
Internet address

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