| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 723614 | IFAC Proceedings Volumes | 2007 | 6 Pages |
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Alessandro Macchelli, Stefano Stramigioli, Claudio Melchiorri,