Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for singular postures and to take into account influence of the external forces. The advantages of the developed technique are confirmed by application examples, which deal with stiffness analysis of a parallel manipulator of the Orthoglide famil

A vertex-based finite volume method applied to non-linear material problems in computational solid mechanics

A vertex-based finite volume (FV) method is presented for the computational solution of quasi-static solid mechanics problems involving material non-linearity and infinitesimal strains. The problems are analysed numerically with fully unstructured meshes that consist of a variety of two- and three-dimensional element types. A detailed comparison between the vertex-based FV and the standard Galerkin FE methods is provided with regard to discretization, solution accuracy and computational efficiency. For some problem classes a direct equivalence of the two methods is demonstrated, both theoretically and numerically. However, for other problems some interesting advantages and disadvantages of the FV formulation over the Galerkin FE method are highlighted

Stiffness modeling for perfect and non-perfect parallel manipulators under internal and external loadings

International audienceThe paper presents an advanced stiffness modeling technique for perfect and non-perfect parallel manipulators under internal and external loadings. Particular attention is paid to the manipulators composed of non-perfect serial chains, whose geometrical parameters differ from the nominal ones and do not allow to assemble manipulator without internal stresses that considerably affect the stiffness properties and also change the end-effector location. In contrast to other works, several types of loadings are considered simultaneously: an external force applied to the end-effector, internal loadings generated by the assembling of non-perfect serial chains and external loadings applied to the intermediate points (auxiliary loading due to the gravity forces and relevant compensator mechanisms, etc.). For this type of manipulators, a non-linear stiffness modeling technique is proposed that allows to take into account inaccuracy in the chains and to aggregate their stiffness models for the case of both small and large deflections. Advantages of the developed technique and its ability to compute and compensate the compliance errors caused by the considered factors are illustrated by an example that deals with parallel manipulators of the Orthoglide family

Enhanced stiffness modeling of manipulators with passive joints

The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its Jacobians and Hessians. The main contributions of this paper are the introduction of a non-linear stiffness model for the manipulators with passive joints, a relevant numerical technique for its linearization and computing of the Cartesian stiffness matrix which allows rank-deficiency. Within the developed technique, the manipulator elements are presented as pseudo-rigid bodies separated by multidimensional virtual springs and perfect passive joints. Simulation examples are presented that deal with parallel manipulators of the Ortholide family and demonstrate the ability of the developed methodology to describe non-linear behavior of the manipulator structure such as a sudden change of the elastic instability properties (buckling)

Kinematic Performance Measures and Optimization of Parallel Kinematics Manipulators: A Brief Review

This chapter covers a number of kinematic performance indices that are instrumental in designing parallel kinematics manipulators. These indices can be used selectively based on manipulator requirements and functionality. This would provide the very practical tool for designers to approach their needs in a very comprehensive fashion. Nevertheless, most applications require a more composite set of requirements that makes optimizing performance more challenging. The later part of this chapter will discuss single-objective and multi-objectives optimization that could handle certain performance indices or a combination of them. A brief description of most common techniques in the literature will be provided

Modèles élastiques et élasto‐dynamiques de robots porteurs

The report presents an advanced stiffness modeling technique for parallel manipulators composed of perfect and non-perfect serial chains. The developed technique contributes both to the stiffness modeling of serial and parallel manipulators under internal and external loadings. Particular attention has been done to enhancement of VJM-based stiffness modeling technique for the case of auxiliary loading (applied to the intermediate points). The obtained results allows us to take into account gravity forces induced by the link weights which are assumed to be applied in the intermediate points. In contrast to other works, the developed technique is able to take into account deviation of the end-platform location because of inaccuracy in the geometry of serial chains, which does not allow to assemble manipulator without internal stresses. The developed aggregation procedure combines the chain stiffness models and produces the relevant force-deflection relation, the aggregated Cartesian stiffness matrix and the reference point displacements caused by inaccuracy in kinematic chains. The developed technique can be applied to both over-constrained and under-constrained manipulators, and is suitable for the cases of both small and large deflections.ANR COROUSS

structural analysis of transversally loaded quasi isotropic rectilinear orthotropic composite circular plates with galerkin method

Abstract Bending analysis of rectilinear orthotropic composite plates have been scarcely investigated taking into account the increasing use of composite materials in structural applications in the last years. This kind of plates are laminates with axisymmetric geometry and they are made up of unidirectionally reinforced layers with different orientations. Transversally loading this kind of circular plates, the deflected mid-surface is not independent from the circumferential coordinate, unlike the case of isotropic circular plate. Nevertheless, the quasi-isotropic stacking sequence makes still possible to introduce the hypothesis of axisymmetry for the mid-surface deflection under transversal load, disregarding the circumferential variation of the vertical displacement connected to the variable bending stiffness. Then, the constitutive equations for this specific family of plates were obtained finding the stress resultants-strains relations in the global cylindrical coordinate system. These expressions, along with the equilibrium equations, made it possible to derive the governing equation of the problem in the frame of Kirchhoff-Love hypothesis of the classical lamination theory. The Galerkin method was applied to solve the governing third order differential equation in terms of mid-surface deflection, introducing appropriate polynomial approximation functions compliant with the boundary conditions. In particular, fully clamped constraint conditions were considered for the outer diameter of the plate in conjunction with an internal rigid core. The characterization of this model allows to define the stiffness matrix terms of a custom composite bolted joint finite element, that is the object of future developments of this work. Results of the original proposed method are presented and compared to those obtained by means of FEA performed with a refined reference model, demonstrating a good agreement

Three-dimensional analysis of reinforced concrete beam-column structures in fire

This is the author's accepted manuscript. The final published article is available from the link below. Published version copyright @ 2009 ASCE.In this paper a robust nonlinear finite-element procedure is developed for three-dimensional modeling of reinforced concrete beam-column structures in fire conditions. Because of the changes in material properties and the large deflections experienced in fire, both geometric and material nonlinearities are taken into account in this formulation. The cross section of the beam column is divided into a matrix of segments and each segment may have different material, temperature, and mechanical properties. The more complicated aspects of structural behavior in fire conditions, such as thermal expansion, transient state strains in the concrete, cracking or crushing of concrete, yielding of steel, and change in material properties with temperature are modeled. A void segment is developed to effectively model the effect of concrete spalling on the fire resistance of concrete beam-column members. The model developed can be used to quantify the residual strength of spalled reinforced concrete beam-column structures in fire. A series of comprehensive validations have been conducted to validate the model. From this research, it can be concluded that the influence of transient state strains of concrete on the deflection of structures can be very significant. However, there is very little effect on the failure time of a simple structural member. The impact of concrete spalling on both the thermal and structural behaviors of reinforced concrete members is very significant. It is vitally important to consider the prospect of concrete spalling in fire safety design for reinforced concrete buildings