Spatial Formulation Of Elastic Multibody Systems With Impulsive Constraints Khulief, YA KLUWER ACADEMIC PUBL, MULTIBODY SYSTEM DYNAMICS; pp: 383-406; Vol: 4 King Fahd University of Petroleum & Minerals http://www.kfupm.edu.sa Summary The problem of modeling the transient dynamics of three-dimensional multibody mechanical systems which encounter impulsive excitations during their functional usage is addressed. The dynamic behavior is represented by a nonlinear dynamic model comprising a mixed set of reference and local elastic coordinates. The finite- element method is employed to represent the local deformations of three-dimensional beam-like elastic components by either a finite set of nodal coordinates or a truncated set of modal coordinates. The finite-element formulation will permit beam elements with variable geometry. The governing equations of motion of the three-dimensional multibody configurations will be derived using the Lagrangian constrained formulation. The generalized impulse-momentum-balance method is extended to accommodate the persistent type of the impulsive constraints. The developed formulation is implemented into a multibody simulation program that assembles the equations of motion and proceeds with its solution. Numerical examples are presented to demonstrate the applicability of the developed method and to display its potential in gaining more insight into the dynamic behavior of such systems. References: 1. AGRAWAL OP, 1986, COMPUT METHOD APPL M, V56, P217 ASHLEY H, 1967, AIAA J, V5, P460 2. 3. BARAFF D, 1993, ALGORITHMICA, V10, P292 BAZOUNE A, 1999, IN PRESS J SOUND VIB BOOK WJ, 1984, INT J ROBOT RES, V3, P87 BOUTAGHOU ZE, 1990, ASME, V113, P494 4. 5. 6. © Copyright: King Fahd University of Petroleum & Minerals; http://www.kfupm.edu.sa

CHANG T, 1987, COMPUT STRUCT, V27, P116 9. 7. BRACH RM, 1989, ASME, V56, P133 8. CHANG T, 1987, COMPUT STRUCT, V27, P116 9. CHAPNIK BV, 1991, IEEE T ROBOTIC AUTOM, V7, P497 CLEGHORN WL, 1981, MECHANISM MACHINE TH, V16, P407 COHEN H, 1991, J APPL MECH-T ASME, V58, P1042 DEVEUBEKE BF, 1976, INT J ENG SCI, V14, P895 DUBOWSKY S, 1971, ASME, V93, P305 DUBOWSKY S, 1977, ASME, P88 10. 11. 12. 13. 14. 15. DUBOWSKY S, 1986, 86DET62 ASME EHLE PE, 1978, THESIS U IOWA IOWA C ERDMAN AG, 1972, J ENG IND, V94, P1193 GAU WH, 1991, J VIB ACOUST, V113, P532 16. 17. 18. 19. GOLDSMITH W, 1960, IMPACT THEORY PHYSIC HO JYL, 1977, J SPACECRAFT ROCKETS, V14, P102 HOOKER WW, 1975, CELESTIAL MECH, V11, P337 HOUSNER JM, 1986, 860896CP AIAA 20. 21. 22. 23. JONKER B, 1989, COMPUT METHOD APPL M, V76, P17 KANE K, 1990, ASME, V113, P79 24. 25. KANE TR, 1962, J APPL MECH, V29, P715 KANE TR, 1986, AIAA J, V10, P139 26. 27. KECS W, 1974, APPL THEORY DISTRIBU 28. KELLER JB, 1986, J APPL MECH-T ASME, V53, P1 KHULIEF Y, 1983, 8310 TR U IOW COLL E KHULIEF Y, 1986, ASME, V102, P167 KHULIEF YA, 1986, ASME, V108, P38 29. 30. 31. 32. KHULIEF YA, 1986, J SOUND VIB, V104, P187 33. KHULIEF YA, 1987, MECHANISM MACHINE TH, V22, P213 KHULIEF YA, 1992, COMPUT METHOD APPL M, V97, P23 KHULIEF YA, 1998, FINITE ELEMENT DYNAM KHULIEF YA, 2001, IN PRESS MULTIBODY S, V5 LEE T, 1982, 82DET65 ASME 34. 35. 36. 37. 38. LIKINS PW, 1967, AIAA J, V5, P1304 39. MAN G, 1988, P WORKSH MULT SIM, V1 40. PAPASTAVRIDIS JG, 1989, INT J ENG SCI, V27, P1445 PRZEMIENIECKI JS, 1968, THEORY MATRIX STRUCT ROY RK, 1975, ASME, P1317 41. 42. 43. SANY JR, 1990, ASME, V112, P119 44. SHABANA A, 1989, DYNAMICS MULTIBODY S SHABANA AA, 1983, ASME, V105, P370 45. 46. SHABANA AA, 1983, J STRUCT MECH, V11, P401 47. SPANOS JT, 1991, J GUID CONTROL DYNAM, V14, P278 STRONGE WJ, 1991, ASME, V58, P1049 48. 49. SU TJ, 1991, J GUID CONTROL DYNAM, V14, P260 SUNADA WH, 1983, ASME, V105, P42 TURCIC DA, 1984, ASME, V106, P243 50. 51. © Copyright: King Fahd University of Petroleum & Minerals; http://www.kfupm.edu.sa

WEHAGE R, 1980, THESIS U IOWA IOWA C 52. WEHAGE R, 1980, THESIS U IOWA IOWA C WINFERY R, 1972, ASME J ENG IND, V94, P577 YIGIT AS, 1990, J VIB ACOUST, V112, P65 YIGIT AS, 1990, J VIB ACOUST, V112, P71 53. 54. 55. For pre-prints please write to: abstracts@kfupm.edu.sa © Copyright: King Fahd University of Petroleum & Minerals; http://www.kfupm.edu.sa