This paper presents a performance evaluation and the computational requirements of using the ®nite element (FE) method for modelling ¯exible robot manipulators. A constrained planar single-link ¯exible manipulator is considered. Finite-dimensional simulation of the manipulator is developed using the
A vectorial approach to computational modelling of beams undergoing finite rotations
✍ Scribed by Jaewook Rhim; Sung W. Lee
- Publisher
- John Wiley and Sons
- Year
- 1998
- Tongue
- English
- Weight
- 148 KB
- Volume
- 41
- Category
- Article
- ISSN
- 0029-5981
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✦ Synopsis
The description of ÿnite rotations of beam-like structures using rotational parameters is not the most e cient, from a computational standpoint, because of the non-vectorial nature of ÿnite rotations in three-dimensional space. In the present study, the classical rigid cross-section assumption is abandoned and the motions of beam directors in three-dimensional space is represented using vector quantities so that the resulting conÿguration space of a beam becomes a linear vector space. Issues concerning the proper constitutive relations are also discussed. Numerical results illustrate that the present approach produces attractive properties for various nonlinear problems involving very large rotations compared to the conventional rotational parameter approach.
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