PORT-BASED FINITE ELEMENT MODEL OF A FLEXIBLE LINK

Authors

Alessandro Macchelli, Stefano Stramigioli, Claudio Melchiorri

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.

Keywords

distributed models, finite elements method, flexible arms

Citation

• Journal: IFAC Proceedings Volumes
• Year: 2007
• Volume: 40
• Issue: 12
• Pages: 158–163
• Publisher: Elsevier BV
• DOI: 10.3182/20070822-3-za-2920.00027
• Note: 7th IFAC Symposium on Nonlinear Control Systems

BibTeX

@article{Macchelli_2007,
  title={{PORT-BASED FINITE ELEMENT MODEL OF A FLEXIBLE LINK}},
  volume={40},
  ISSN={1474-6670},
  DOI={10.3182/20070822-3-za-2920.00027},
  number={12},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Macchelli, Alessandro and Stramigioli, Stefano and Melchiorri, Claudio},
  year={2007},
  pages={158--163}
}

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References

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