Rigid-Flexible Coupling Dynamics Modeling of Spatial Crank-Slider Mechanism Based on Absolute Node Coordinate Formulation
Xiaoyu Wang, Haofeng Wang, Jingchao Zhao, Chunyang Xu, Zhong Luo, Qingkai Han
Abstract
In order to study the influence of compliance parts on spatial multibody systems, a rigid-flexible coupling dynamic equation of a spatial crank-slider mechanism is established based on the finite element method. Specifically, absolute node coordinate formulation (ANCF) is used to formulate a three-dimensional, two-node flexible cable element. The rigid-flexible coupling dynamic equation of the mechanism is derived by the Lagrange multiplier method and solved by the generalized α method and Newton–Raphson iteration method combined. Comparison of the kinematics and dynamics response between rigid-flexible coupling system and pure rigid system implies that the flexible part causes a certain degree of nonlinearity and reduces the reaction forces of joints. The elastic modulus of the flexible part is also important to the dynamics of the rigid-flexible multibody system. With smaller elastic modulus, the motion accuracy and reaction forces become lower.