Port-based finite element model of a flexible link

Alessandro Macchelli; Stefano Stramigioli; Claudio Melchiorri

doi:10.3182/20070822-3-ZA-2920.00027

Port-based finite element model of a flexible link

Alessandro Macchelli
, Stefano Stramigioli
, Claudio Melchiorri

Robotics and Mechatronics

Research output: Contribution to journal › Conference article › Academic › peer-review

4 Citations (Scopus)

35 Downloads (Pure)

Abstract

In this paper, the finite element approximation of the dynamics of a flexible link is discussed. The starting point is a model in distributed port Hamiltonian form that, differently from the Euler-Bernoulli or Timoshenko beam, is able to describe large deflections in 3-D space. The spatial discretization technique is based on physical considerations so that, by exploiting the geometric structure of a distributed port Hamiltonian system, a finite dimensional approximation still in port Hamiltonian form that obeys to the same energy balance relation of its infinite dimensional counterpart can be obtained.

Original language	English
Pages (from-to)	158-163
Journal	IFAC proceedings volumes
Volume	40
Issue number	12
DOIs	https://doi.org/10.3182/20070822-3-ZA-2920.00027
Publication status	Published - 2007
Event	7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007 - Pretoria, South Africa Duration: 22 Aug 2007 → 24 Aug 2007 Conference number: 7

Keywords

Flexible arms
Finite Element Method (FEM)
Distributed models

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10.3182/20070822-3-ZA-2920.00027

ArticleFinal published version, 152 KBLicence: Taverne

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title = "Port-based finite element model of a flexible link",

abstract = "In this paper, the finite element approximation of the dynamics of a flexible link is discussed. The starting point is a model in distributed port Hamiltonian form that, differently from the Euler-Bernoulli or Timoshenko beam, is able to describe large deflections in 3-D space. The spatial discretization technique is based on physical considerations so that, by exploiting the geometric structure of a distributed port Hamiltonian system, a finite dimensional approximation still in port Hamiltonian form that obeys to the same energy balance relation of its infinite dimensional counterpart can be obtained.",

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T1 - Port-based finite element model of a flexible link

AU - Macchelli, Alessandro

AU - Stramigioli, Stefano

AU - Melchiorri, Claudio

N1 - Conference code: 7

PY - 2007

Y1 - 2007

N2 - In this paper, the finite element approximation of the dynamics of a flexible link is discussed. The starting point is a model in distributed port Hamiltonian form that, differently from the Euler-Bernoulli or Timoshenko beam, is able to describe large deflections in 3-D space. The spatial discretization technique is based on physical considerations so that, by exploiting the geometric structure of a distributed port Hamiltonian system, a finite dimensional approximation still in port Hamiltonian form that obeys to the same energy balance relation of its infinite dimensional counterpart can be obtained.

AB - In this paper, the finite element approximation of the dynamics of a flexible link is discussed. The starting point is a model in distributed port Hamiltonian form that, differently from the Euler-Bernoulli or Timoshenko beam, is able to describe large deflections in 3-D space. The spatial discretization technique is based on physical considerations so that, by exploiting the geometric structure of a distributed port Hamiltonian system, a finite dimensional approximation still in port Hamiltonian form that obeys to the same energy balance relation of its infinite dimensional counterpart can be obtained.

KW - Flexible arms

KW - Finite Element Method (FEM)

KW - Distributed models

U2 - 10.3182/20070822-3-ZA-2920.00027

DO - 10.3182/20070822-3-ZA-2920.00027

M3 - Conference article

SN - 1474-6670

VL - 40

SP - 158

EP - 163

JO - IFAC proceedings volumes

JF - IFAC proceedings volumes

IS - 12

T2 - 7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007

Y2 - 22 August 2007 through 24 August 2007

ER -

Port-based finite element model of a flexible link

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Keywords

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