The FutureForge manipulator and an approximate analytical solution algorithm for its nonlinear dynamics

Johnston, Daniel and Cartmell, Matthew and Wynne, Bradley and Pakrashi, Vikram and Kovacic, Ivana (2022) The FutureForge manipulator and an approximate analytical solution algorithm for its nonlinear dynamics. In: 10th European Nonlinear Dynamics Conference, 2022-07-17 - 2022-07-22.

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Abstract

This paper examines a linearisation algorithm developed for the nonlinear dynamics of the FutureForge manipulator - part of a state-of-the-art forging platform being built in Glasgow, Scotland. Building on previous work, the authors investigate means of obtaining approximate analytical solutions for the highly nonlinear system with a view to developing a practical control system in future work. This is done by a combination of algebraic approximation methods, a practical understanding of the machine’s operating characteristics, as well as the application of a perturbation method. The devised method is verified by comparing the resulting approximate analytical solutions with numerical solutions to the nonlinear problem.

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