Static Deformation-Compensation Method Based on Inclination-Sensor Feedback for Large-Scale Manipulators with Hydraulic Actuation

Modern large-scale manipulators with hydraulic actuation like mobile concrete pump manipulators are increasingly used in industrial, construction, and other fields. Due to the large span of these manipulators, the static deformation accumulation to the endpoint has seriously affected the precise control of the endpoint. In this paper, we propose a static deformation-compensation method based on inclination sensor feedback for large-scale manipulators to reduce the deviation of the endpoint. Compared with the finite element method, this method does not need to consider many boundary conditions that are uncertain for flexible manipulators in most situations. It has appropriate accuracy and is universal for large-scale manipulators of different sizes and working under different loads. Based on a 24m-3R mobile concrete pump manipulator, the parametric simulation is carried out. The reliability of the static deformation-compensation method is verified, and the error is analyzed. The validity of the static deformation-compensation method is verified by comparing the theoretical endpoint position with the actual endpoint position after static deformation compensation. The compensation error under different loads is obtained, and the universality of the compensation method for different loads is verified.

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New Development of the P and H-P Version Finite Element Method with Quasi-Uniform Meshes for Elliptic Problems

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.444-445.671 ◽

2013 ◽

Vol 444-445 ◽

pp. 671-675

Author(s):

Jian Ming Zhang ◽

Yong He

Keyword(s):

Finite Element Method ◽

Finite Element ◽

Automobile Industry ◽

Large Scale ◽

Elliptic Problems ◽

Three Dimensions ◽

The Finite Element Method ◽

New Development ◽

Engineering Problems ◽

Element Method

In recent three decades, the finite element method (FEM) has rapidly developed as an important numerical method and used widely to solve large-scale scientific and engineering problems. In the fields of structural mechanics such as civil engineering , automobile industry and aerospace industry, the finite element method has successfully solved many engineering practical problems, and it has penetrated almost every field of today's sciences and engineering, such as material science, electricmagnetic fields, fluid dynamics, biology, etc. In this paper, we will overview and summarize the development of the p and h-p version finite element method, and introduce some recent new development and our newest research results of the p and h-p version finite element method with quasi-uniform meshes in three dimensions for elliptic problems.

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Large-scale computational fluid dynamics by the finite element method

International Journal for Numerical Methods in Fluids ◽

10.1002/fld.1650181106 ◽

1994 ◽

Vol 18 (11) ◽

pp. 1083-1105 ◽

Cited By ~ 4

Author(s):

W. G. Habashi ◽

M. Robichaud ◽

V.-N. Nguyen ◽

W. S. Ghaly ◽

M. Fortin ◽

...

Keyword(s):

Fluid Dynamics ◽

Finite Element Method ◽

Computational Fluid Dynamics ◽

Finite Element ◽

Large Scale ◽

The Finite Element Method ◽

Element Method

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Mathematical model of static deformation of micropolar elastic beam with a circular axis on the theory with constrained rotation and the finite element method

Mechanics - Proceedings of National Academy of Sciences of Armenia ◽

10.33018/72.3.3 ◽

2019 ◽

Vol 72 (3) ◽

pp. 39-55

Author(s):

S.H. Sargsyan ◽

M.V. Khachatryan

Keyword(s):

Mathematical Model ◽

Finite Element Method ◽

Finite Element ◽

Elastic Beam ◽

Static Deformation ◽

The Finite Element Method ◽

Circular Axis ◽

Element Method

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Design and Stress Analysis of a New Quick-Opening Seal Device Connected by D-Shaped Shearing Bolts

Journal of Pressure Vessel Technology ◽

10.1115/1.2757188 ◽

2006 ◽

Vol 129 (3) ◽

pp. 550-555

Author(s):

Ping Chen ◽

Caifu Qian ◽

Yunxiao Zhang

Keyword(s):

Finite Element Method ◽

Finite Element ◽

High Pressure ◽

Stress Analysis ◽

Large Scale ◽

Pressure Vessels ◽

The Finite Element Method ◽

Heavy Weight ◽

Ring Seal ◽

Pipe Joints

Because of large scale and heavy weight, end closures of high pressure vessels are usually hard to assemble and disassemble. In this paper, a new quick-opening seal device connected by D-shaped shearing bolts is introduced. This device is compact in structure, reliable in sealing, easy in assembly and disassembly, and very appropriate for end closures of pressure vessels or for pipe joints. Strength calculation formulas for the major parts are proposed analytically, and stress analysis using the finite element method for a C-ring seal has been performed. An application of this device shows that its sealing and strength is reliable.

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