A General Method for Estimating Dynamic Parameters of Spatial Mechanisms

Dynamic equations of motion require a large number of parameters for each element of the system. These can include for each part their mass, location of center of mass, moment of inertia, spring stiffnesses and damping coefficients. This paper presents a technique for estimating these parameters in...

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Bibliographic Details
Published inNonlinear dynamics Vol. 16; no. 4; pp. 349 - 368
Main Authors Shome, Siddhartha S, Beale, David G, Wang, Deming
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Nature B.V 01.08.1998
Subjects
Computer simulation
Damping
Equations of motion
Estimation
Mechanical systems
Moments of inertia
Multibody systems
Parameter estimation
Singular value decomposition
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Summary:Dynamic equations of motion require a large number of parameters for each element of the system. These can include for each part their mass, location of center of mass, moment of inertia, spring stiffnesses and damping coefficients. This paper presents a technique for estimating these parameters in spatial mechanisms using any joint type, based on measurements of displacements, velocities and accelerations and of external forces and torques, for the purpose of building accurate multibody models of mechanical systems. A form of the equations of spatial motion is derived, which is linear in the dynamic parameters and based on multibody simulation code methodologies. Singular value decomposition is used to find the ‘essential parameter set’, and ‘minimum parameter set’. It is shown that a simulation of a four-bar mechanism (with spherical, universal, and revolute joints) and based on the estimated parameters gives accurate response.
ISSN:0924-090X
1573-269X
DOI:10.1023/A:1008218130224