Abstract
The multibody system composed of many rigid and flexible parts, as well as joints with free-plays, is a kind of useful model for numerous products in space engineering and mechanical engineering. The dynamic analysis and control of those multibody systems play a significant role in their design. However, the commercially available software is not able to deal with the tough problems, such as the efficient description of rigid-flexible bodies, the impacts induced by free-plays in joints, and the computational cost of large scale equations of nonlinear dynamics for the rigid-flexible multibody systems.
This lecture presents the recent advances of the speaker’s team in the dynamics and control of rigid-flexible multibody systems involving free-play joints. The lecture begins with the Absolute Coordinate Based (ACB) method to model the rigid-flexible multibody system, including the description of rigid bodies via Natural Coordinate Formulation (NCF) and the description of flexible bodies via Absolute Nodal Coordinate Formulation (ANCF), such that the derived dynamic equation of a system has a constant inertial matrix and a great simplification of constraint conditions. Then, the lecture focuses on the dynamic modeling of the spatial joint with/without lubricant via NCF and elastohydrodynamic description. Afterwards, it presents the parallel computation strategy based on OpenMP technique to solve the large scale dynamic equations deducted by using ACB method. Finally, the lecture gives several case studies, such as the deployment processes of various space structures and the grasping process of a space robot, to demonstrate the efficacy of the method and corresponding software.
About the speaker
Prof Haiyan Hu received his Doctor of Engineering in Applied Mechanics from Nanjing University of Aeronautics and Astronautics (NUAA) in 1988. Afterwards, he joined the faculty of NUAA and became Professor of Applied Mechanics in 1994. He was Humboldt Research Fellow at University of Stuttgart from 1992 to 1994, and Visiting Professor at Duke University from 1996 to 1997. He served as Vice President of NUAA from 1998 to 2001, and President of NUAA from 2001 to 2007. He is currently the President of Beijing Institute of Technology.
Prof Hu has made recognized contributions to the nonlinear dynamics of vibration control systems, the dynamics and control of vibro-impacting systems, and the flutter control of aeroelastic systems, etc. He also solved some important vibration problems in aerospace engineering in China. He has authored and co-authored 2 monographs and 245 journal papers, which have been cited over 4200 times by other scientists.
Prof Hu is President of Chinese Society of Theoretical and Applied Mechanics, Vice President of Chinese Society of Aeronautics and Astronautics, General Assembly Member of International Union of Theoretical and Applied Mechanics, Member of the Evaluation Committee of the National Fund for Distinguished Young Scientists, Member of the Evaluation Committee of the State Award of Natural Sciences. He is also Editor-in-Chief for the book series of Nonlinear Dynamics, Associate Editor for Acta Mechanica Sinica, and on the editorial board of 5 well-known journals, such as Journal of Sound and Vibration, and International Journal of Nonlinear Mechanics. He received numerous awards including the State Award of Scientific and Technological Developments in 2005, the State Award of Natural Sciences twice in 2006 and 2012, and Ho Leung Ho Lee Prize in 2012. He was elected as the Academician of the Chinese Academy of Sciences in 2007 and the Fellow of the Third World Academy of Sciences in 2010.
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