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Title:Implementation of an ANCF beam finite element for dynamic response optimization of elastic manipulators
Authors:ID Vohar, Bojan (Author)
ID Kegl, Marko (Author)
ID Ren, Zoran (Author)
Files:URL http://dx.doi.org/10.1080/03052150802317457
Work type:Unknown ()
Typology:1.01 - Original Scientific Article
Organization:FS - Faculty of Mechanical Engineering
Abstract:Theoretical and practical aspects of an absolute nodal coordinate formulation (ANCF) beam finite element implementation are considered in the context of dynamic transient response optimization of elastic manipulators. The proposed implementation is based on the introduction of new nodal degrees of freedom, which is achieved by an adequate nonlinear mapping between the original and new degrees of freedom. This approach preserves the mechanical properties of the ANCF beam, but converts it into a conventional finite element so that its nodal degrees of freedom are initially always equal to zero and never depend explicitly on the design variables. Consequently, the sensitivity analysis formulas can be derived in the usual manner, except that the introduced nonlinear mapping has to be taken into account. Moreover, the adjusted element can also be incorporated into general finite element analysis and optimization software in the conventional way. The introduced design variables are related to the cross-section of the beam, to the shape of the (possibly) skeletal structure of the manipulator and to the drive functions. The layered cross-section approach and the design element technique are utilized to parameterize the shape of individual elements and the whole structure. A family of implicit time integration methods is adopted for the response and sensitivity analysis. Based on this assumption, the corresponding sensitivity formulas are derived. Two numerical examples illustrate the performance of the proposed element implementation.
Keywords:ANCF beam element, dynamic response, elastic manipulator, optimization
Year of publishing:2008
PID:20.500.12556/DKUM-26362 New window
ISSN on article:0305-215X
COBISS.SI-ID:13020182 New window
Publication date in DKUM:31.05.2012
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Record is a part of a journal

Title:Engineering optimization
Shortened title:Eng. optim.
Publisher:Gordon and Breach.
COBISS.SI-ID:10292229 New window

Secondary language

Keywords:ANCF nosilec, dinamični odziv, elastični manipulator, optimizacija


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