Reduction of degree of freedom in flexible multibody system

本研究的目的是发展一个高精度和降阶模型的极柔性体进行大旋转和大变形，以设计控制器，这样一个高度非线性系统。结果表明，所提出的降阶模型采用了一种模态综合方法，能够有效地降低柔性体系统矩阵的维数，并能保持数值精度。通过数值仿真，验证了该模型可用于设计类似自由体操的极柔性连杆移动的机器人的控制器。

This study was aimed at developing a high precision and reduced order model for the extremely flexible body undergoing large rotation and large deformation in order to design a controller for such a highly nonlinear system. As the result, the proposed reduced order model which uses a kind of component mode synthesis method enables to reduce the dimension size of the system matrix of flexible body and is verified to keep the numerical accuracy. Moreover it is also verified the present model can be applicable to design a controller of the mobile robot with extremely flexible link which is similar to floor gymnastics by numerical simulation.