Dynamic Finite Element Analysis of a Highly Parallel Robotic Surface

2011 ◽  
Author(s):  
Chris Salisbury
Keyword(s):  
Finite Element ◽  
Degrees Of Freedom ◽  
Angular Displacement ◽  
Three Dimensional ◽  
Element Analysis ◽  
Revolute Joints ◽  
Stiffness Matrices ◽  
Joint Forces ◽  
Ricatti Equation ◽  
Optimal Dynamic

A novel three-dimensional robotic surface is devised using triangular modules connected by revolute joints that mimic the constraints of a spherical joint at each triangle intersection. The finite element method (FEM) is applied to the dynamic loading of this device using three dimensional (6 degrees of freedom) beam elements to not only calculate the cartesian displacement and force, but also the angular displacement and torque at each joint. In this way, the traditional methods of finding joint forces and torques are completely bypassed. An effiecient algorithm is developed to linearly combine local mass and stiffness matrices into a full structural stiffness matrix for the easy application of loads. An analysis of optimal dynamic joint forces is carried out in Simulink® with the use of an algebraic Ricatti equation.

Finite Element Analysis of a Highly Parallel Robotic Surface

2011 ◽  
Author(s):  
Chris Salisbury ◽  
Woosoon Yim
Keyword(s):  
Finite Element ◽  
Degrees Of Freedom ◽  
Angular Displacement ◽  
Three Dimensional ◽  
Open Loop ◽  
Element Analysis ◽  
Loop Control ◽  
Stiffness Matrices ◽  
6 Degrees Of Freedom ◽  
Local Stiffness

A novel three-dimensional robotic surface is devised and implemented using triangular modules. Each module is connected by a passive sixbar mechanism that mimics the constraints of a spherical joint at each triangle intersection. The finite element method (FEM) is applied to the static loading of this device using linear three dimensional (6 degrees of freedom) beam elements to calculate the cartesian displacement and force and the angular displacement and torque at each joint. In this way, the traditional methods of finding joint forces and torques are completely bypassed. An effiecient algorithm is developed to linearly combine local stiffness matrices into a full structural stiffness matrix for the easy application of loads. This is then decomposed back into the local matrices to easily obtain joint variables used in the design and open-loop control of the surface.

Flexible-Body Dynamics Modelling With a Reduced-Order Model

1990 ◽  
Author(s):  
K. Harold Yae ◽  
Daniel J. Inman
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Reduced Model ◽  
Flexible Body ◽  
State Variables ◽  
Dynamics Modeling ◽  
Element Analysis ◽  
Stiffness Matrices

Abstract In the dynamics modeling of a flexible body, finite element analysis employs Guyan’s reduction that removes some of the “insignificant” physical coordinates, thus producing a dynamic model that has smaller mass and stiffness matrices. Despite such reduction, the resultant model is still too large for flexible-body dynamic analysis. That warrants further reduction as is frequently used in control design by approximating a large dynamical system with a fewer number of state variables. When the reduced model is being assembled with other bodies in a multi-body mechanism, a problem, however, arises because a model usually undergoes, before being reduced, some form of coordinate transformations that do not preserve the physical meanings of the states. To correct such a problem, we developed a method that expresses a reduced model in terms of a subset of the original states. The proposed method starts with a dynamic model that is originated and reduced in finite element analysis. Then the model is converted to the state space form, and reduced again by the internal balancing method. At this stage, being in the balanced coordinate system, the states in the reduced model have no apparent resemblance to those of the original model. Through another coordinate transformation that is developed in this paper, however, this reduced model is expressed by a subset of the original states. Then finally the model can be represented by the states assigned to the degrees of freedom of the selected nodal points.

Finite Element Analysis on Dynamic Characteristics of Maglev Suspension System

2013 ◽  
Vol 834-836 ◽  
pp. 1497-1500
Author(s):  
Jian Xiang Tang ◽  
Xin Hua Jiang ◽  
Jiang Min Deng ◽  
Te Fang Chen
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Dynamic Characteristics ◽  
High Performance ◽  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Suspension System ◽  
Three Dimensional Model ◽  
Maglev Train ◽  
Element Analysis

In this paper, electromagnetic dynamic characteristics of suspension system of middle-low speed maglev train are analyzed with finite element analysis (FEA) method based on the high-performance computing platform (HPC). The couple structure between F-type track and suspension magnet is meshed by pretension element. The dynamic characteristics of suspension system are simulated in three-dimensional model with 4 degrees of freedom motions condition. Both the numerical simulations and the actual force tests of suspension system are carried out with the same input. The result shows that the calculation accuracy of finite element analysis is high.

The biomechanical study of cervical spine: A Finite Element Analysis

2021 ◽  
pp. 039139882199549
Author(s):  
Pechimuthu Susai Manickam ◽  
Sandipan Roy
Keyword(s):  
Finite Element ◽  
Cervical Spine ◽  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Biomechanical Study ◽  
Fe Analysis ◽  
Von Mises Stress ◽  
Fe Model ◽  
Element Analysis ◽  
End Plate

The biomechanical study helps us to understand the mechanics of the human cervical spine. A three dimensional Finite Element (FE) model for C3 to C6 level was developed using computed tomography (CT) scan data to study the mechanical behaviour of the cervical spine. A moment of 1 Nm was applied at the top of C3 vertebral end plate and all degrees of freedom of bottom end plate of C6 were constrained. The physiological motion of the cervical spine was validated using published experimental and FE analysis results. The von Mises stress distribution across the intervertebral disc was calculated along with range of motion. It was observed that the predicted results of functional spine units using FE analysis replicate the real behaviour of the cervical spine.

A Pseudorigid-Body 3R Model for Determining Large Deflection of Cantilever Beams Subject to Tip Loads

2009 ◽  
Vol 1 (2) ◽  
Author(s):  
Hai-Jun Su
Keyword(s):  
Finite Element ◽  
Large Deflection ◽  
Three Dimensional ◽  
Approximation Error ◽  
Element Model ◽  
Model Parameters ◽  
Analysis Model ◽  
Element Analysis ◽  
Revolute Joints ◽  
Characteristic Radius

In this paper, a pseudorigid-body (PRB) 3R model, which consists of four rigid links joined by three revolute joints and three torsion springs, is proposed for approximating the deflection of a cantilever beam subject to a general tip load. The large deflection beam equations are solved through numerical integration. A comprehensive atlas of the tip deflection for various load modes is obtained. A three-dimensional search routine has been developed to find the optimal set of characteristic radius factors and spring stiffness of the PRB 3R model. Detailed error analysis has been done by comparing with the precomputed tip deflection atlas. Our results show that the approximation error is much less than that of the conventional PBR 1R model. To demonstrate the use of the PRB 3R model, a compliant four-bar linkage is studied and verified by a numerical example. The result shows a maximum tip deflection error of 1.2% compared with the finite element analysis model. The benefits of the PRB 3R model include that (a) the model parameters are independent of external loads, (b) the approximation error is relatively small for even large deflection beams, and (c) the derived kinematic and static constraint equations are simpler to solve compared with the finite element model.

A New Procedure for Structural Fault Estimation Using a Prescribed Eigen-Structure

2015 ◽  
Vol 764-765 ◽  
pp. 1015-1019
Author(s):  
Kun Nan Chen ◽  
Wen Der Ueng ◽  
Yunn Lin Hwang
Keyword(s):  
Finite Element ◽  
Structural Damage ◽  
Degrees Of Freedom ◽  
Fault Estimation ◽  
Computationally Efficient ◽  
Element Analysis ◽  
Stiffness Reduction ◽  
Stiffness Matrices ◽  
The Finite Element Analysis ◽  
Incomplete Measurement

A new method using an incomplete measurement set to locate and identify structural damage is proposed. The method is iterative yet computationally efficient and requires no sensitivity calculations. Mass and stiffness matrices, established by finite element method, are partitioned and measured partial eigenvectors are expanded to full modes. Stiffness reduction coefficients for structural elements are defined and then solved by a nonnegative least-squares solution scheme. With much less measured degrees of freedom and even less measured modes than the finite element analysis degrees of freedom, the proposed approach can still identify the damaged locations and extent of the damage in a structure. The effectiveness of the method is demonstrated by solving a numerically simulated example on the GARTEUR SM-AG19 structure.

Parallelized Finite Element Analysis of Knitted Textile Mechanical Behavior

2018 ◽  
Vol 141 (2) ◽  
Author(s):  
D. Liu ◽  
S. Koric ◽  
A. Kontsos
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Mechanical Behavior ◽  
Computational Efficiency ◽  
High Performance ◽  
Degrees Of Freedom ◽  
Computational Models ◽  
Three Dimensional ◽  
Implicit Methods ◽  
Element Analysis

Direct numerical simulations (DNS) of knitted textile mechanical behavior are for the first time conducted on high performance computing (HPC) using both the explicit and implicit finite element analysis (FEA) to directly assess effective ways to model the behavior of such complex material systems. Yarn-level models including interyarn interactions are used as a benchmark computational problem to enable direct comparison in terms of computational efficiency between explicit and implicit methods. The need for such comparison stems from both a significant increase in the degrees-of-freedom (DOFs) with increasing size of the computational models considered as well as from memory and numerical stability issues due to the highly complex three-dimensional (3D) mechanical behavior of such 3D architectured materials. Mesh and size dependency, as well as parallelization in an HPC environment are investigated. The results demonstrate a satisfying accuracy combined with higher computational efficiency and much less memory requirements for the explicit method, which could be leveraged in modeling and design of such novel materials.

Effects of occlusal scheme on All-on-Four abutments, screws and prostheses: A three-dimensional finite element study

2020 ◽  
Author(s):  
Nurullah Türker ◽  
Hümeyra Tercanlı Alkış ◽  
Steven J Sadowsky ◽  
Ulviye Şebnem Büyükkaplan
Keyword(s):  
Finite Element ◽  
Three Dimensional ◽  
Good Prognosis ◽  
Von Mises Stress ◽  
Element Analysis ◽  
Group Function ◽  
Occlusal Contact ◽  
Maximum Deformation ◽  
Contact Points ◽  
Von Mises

An ideal occlusal scheme plays an important role in a good prognosis of All-on-Four applications, as it does for other implant therapies, due to the potential impact of occlusal loads on implant prosthetic components. The aim of the present three-dimensional (3D) finite element analysis (FEA) study was to investigate the stresses on abutments, screws and prostheses that are generated by occlusal loads via different occlusal schemes in the All-on-Four concept. Three-dimensional models of the maxilla, mandible, implants, implant substructures and prostheses were designed according to the All-on-Four concept. Forces were applied from the occlusal contact points formed in maximum intercuspation and eccentric movements in canine guidance occlusion (CGO), group function occlusion (GFO) and lingualized occlusion (LO). The von Mises stress values for abutment and screws and deformation values for prostheses were obtained and results were evaluated comparatively. It was observed that the stresses on screws and abutments were more evenly distributed in GFO. Maximum deformation values for prosthesis were observed in the CFO model for lateral movement both in the maxilla and mandible. Within the limits of the present study, GFO may be suggested to reduce stresses on screws, abutments and prostheses in the All-on-Four concept.

Towards Predicting Relative Belt Edge Endurance With the Finite Element Method

1990 ◽  
Vol 18 (4) ◽  
pp. 216-235 ◽  
Author(s):  
J. De Eskinazi ◽  
K. Ishihara ◽  
H. Volk ◽  
T. C. Warholic
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Three Dimensional ◽  
The Finite Element Method ◽  
Shear Deformations ◽  
Element Analysis ◽  
Vertical Loading ◽  
Predicted Values ◽  
Element Method

Abstract The paper describes the intention of the authors to determine whether it is possible to predict relative belt edge endurance for radial passenger car tires using the finite element method. Three groups of tires with different belt edge configurations were tested on a fleet test in an attempt to validate predictions from the finite element results. A two-dimensional, axisymmetric finite element analysis was first used to determine if the results from such an analysis, with emphasis on the shear deformations between the belts, could be used to predict a relative ranking for belt edge endurance. It is shown that such an analysis can lead to erroneous conclusions. A three-dimensional analysis in which tires are modeled under free rotation and static vertical loading was performed next. This approach resulted in an improvement in the quality of the correlations. The differences in the predicted values of various stress analysis parameters for the three belt edge configurations are studied and their implication on predicting belt edge endurance is discussed.

Torsional Analysis of a Steel Cord-Rubber Tire Belt Structure

1996 ◽  
Vol 24 (4) ◽  
pp. 339-348 ◽  
Author(s):  
R. M. V. Pidaparti
Keyword(s):  
Finite Element ◽  
Finite Element Model ◽  
Composite Structures ◽  
Three Dimensional ◽  
Element Model ◽  
Torsional Stiffness ◽  
Element Analysis ◽  
Rubber Belt ◽  
Steel Cord ◽  
Torsional Analysis

Abstract A three-dimensional (3D) beam finite element model was developed to investigate the torsional stiffness of a twisted steel-reinforced cord-rubber belt structure. The present 3D beam element takes into account the coupled extension, bending, and twisting deformations characteristic of the complex behavior of cord-rubber composite structures. The extension-twisting coupling due to the twisted nature of the cords was also considered in the finite element model. The results of torsional stiffness obtained from the finite element analysis for twisted cords and the two-ply steel cord-rubber belt structure are compared to the experimental data and other alternate solutions available in the literature. The effects of cord orientation, anisotropy, and rubber core surrounding the twisted cords on the torsional stiffness properties are presented and discussed.

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