The establishment of an elastostatic stiffness model for over constrained parallel manipulators(PMs),particularly those with over constrained subclosed loops,poses a challenge while ensuring numerical stability.This s...The establishment of an elastostatic stiffness model for over constrained parallel manipulators(PMs),particularly those with over constrained subclosed loops,poses a challenge while ensuring numerical stability.This study addresses this issue by proposing a systematic elastostatic stiffness model based on matrix structural analysis(MSA)and independent displacement coordinates(IDCs)extraction techniques.To begin,the closed-loop PM is transformed into an open-loop PM by eliminating constraints.A subassembly element is then introduced,which considers the flexibility of both rods and joints.This approach helps circumvent the numerical instability typically encountered with traditional constraint equations.The IDCs and analytical constraint equations of nodes constrained by various joints are summarized in the appendix,utilizing multipoint constraint theory and singularity analysis,all unified within a single coordinate frame.Subsequently,the open-loop mechanism is efficiently closed by referencing the constraint equations presented in the appendix,alongside its elastostatic model.The proposed method proves to be both modeling and computationally efficient due to the comprehensive summary of the constraint equations in the Appendix,eliminating the need for additional equations.An example utilizing an over constrained subclosed loops demonstrate the application of the proposed method.In conclusion,the model proposed in this study enriches the theory of elastostatic stiffness modeling of PMs and provides an effective solution for stiffness modeling challenges they present.展开更多
Based on analytical equations, a cat ena ry element is presented for the finite element analysis of cable structures. Com pared with usually used element(3_node element, 5_node element), a program with the proposed e...Based on analytical equations, a cat ena ry element is presented for the finite element analysis of cable structures. Com pared with usually used element(3_node element, 5_node element), a program with the proposed element is of less computer time and better accuracy.展开更多
Geometrically nonlinear stiffness matrix due to large displacement small strain was firstly formulated explicitly for the basic components of pantographic foldable structures,namely, the uniplet, derived from a three ...Geometrically nonlinear stiffness matrix due to large displacement small strain was firstly formulated explicitly for the basic components of pantographic foldable structures,namely, the uniplet, derived from a three node beam element.The formulation of the uniplet stiffness matrix is based on the precise nonlinear finite element theory and the displacement harmonized and internal force constraints are applied directly to the deformation modes of the three node beam element. The formulations were derived in general form, and can be simplified for particular foldable structures, such as flat, cylindrical and spherical structures.Finally, two examples were presented to illustrate the applications of the stiffness matrix evolved.展开更多
Based on the theory of Timoshenko and thin-walled beams, a new finite element model of spatial thin-walled beams with general open cross sections is presented in the paper, in which several factors are included such a...Based on the theory of Timoshenko and thin-walled beams, a new finite element model of spatial thin-walled beams with general open cross sections is presented in the paper, in which several factors are included such as lateral shear deformation, warp generated by nonuni- form torsion and second-order shear stress, coupling of flexure and torsion, and large displacement with small strain. With an additional internal node in the element, the element stiffness matrix is deduced by incremental virtual work in updated Lagrangian （UL） formulation. Numerical examples demonstrate that the presented model well describes the geometrically nonlinear property of spatial thin-walled beams.展开更多
Time-varying stiffness is one of the most important dynamic characteristics of rolling element bearings.The method of analyzing the elements in the bearing stiffness matrix is usually adopted to investigate the charac...Time-varying stiffness is one of the most important dynamic characteristics of rolling element bearings.The method of analyzing the elements in the bearing stiffness matrix is usually adopted to investigate the characteristics of bearing stiffness.Linear mapping structure of the bearing stiffness matrix is helpful to understand the varying compliance excitation and its influence on vibration transmission.In this study,a method to analyze the mapping structure of bearing stiffness matrix is proposed based on the singular value decomposition of block matrices in the stiffness matrix.Not only does this method have the advantages of coordinate transformation independence and unit independence,but also the analysis procedure involved is geometrically intuitive.The time-varying stiffness matrix of double-row tapered bearing is calculated and analyzed using the proposed method under two representative load cases.The principal stiffnesses and principal axes defined in the method together indicate the dominant and insignificant stiffness properties with the corresponding directions,and the vibration transmission properties are also revealed.Besides,the coupling behaviors between different shaft motions are found during the analysis of mapping structure.The mechanism of the generation of varying compliance excitation is also revealed.展开更多
基金Supported by National Natural Science Foundation of China (Grant No.52275036)Key Research and Development Project of the Jiaxing Science and Technology Bureau (Grant No.2022BZ10004)。
文摘The establishment of an elastostatic stiffness model for over constrained parallel manipulators(PMs),particularly those with over constrained subclosed loops,poses a challenge while ensuring numerical stability.This study addresses this issue by proposing a systematic elastostatic stiffness model based on matrix structural analysis(MSA)and independent displacement coordinates(IDCs)extraction techniques.To begin,the closed-loop PM is transformed into an open-loop PM by eliminating constraints.A subassembly element is then introduced,which considers the flexibility of both rods and joints.This approach helps circumvent the numerical instability typically encountered with traditional constraint equations.The IDCs and analytical constraint equations of nodes constrained by various joints are summarized in the appendix,utilizing multipoint constraint theory and singularity analysis,all unified within a single coordinate frame.Subsequently,the open-loop mechanism is efficiently closed by referencing the constraint equations presented in the appendix,alongside its elastostatic model.The proposed method proves to be both modeling and computationally efficient due to the comprehensive summary of the constraint equations in the Appendix,eliminating the need for additional equations.An example utilizing an over constrained subclosed loops demonstrate the application of the proposed method.In conclusion,the model proposed in this study enriches the theory of elastostatic stiffness modeling of PMs and provides an effective solution for stiffness modeling challenges they present.
文摘Based on analytical equations, a cat ena ry element is presented for the finite element analysis of cable structures. Com pared with usually used element(3_node element, 5_node element), a program with the proposed element is of less computer time and better accuracy.
基金Natural Science Foundation of China (No.10 10 2 0 10 )
文摘Geometrically nonlinear stiffness matrix due to large displacement small strain was firstly formulated explicitly for the basic components of pantographic foldable structures,namely, the uniplet, derived from a three node beam element.The formulation of the uniplet stiffness matrix is based on the precise nonlinear finite element theory and the displacement harmonized and internal force constraints are applied directly to the deformation modes of the three node beam element. The formulations were derived in general form, and can be simplified for particular foldable structures, such as flat, cylindrical and spherical structures.Finally, two examples were presented to illustrate the applications of the stiffness matrix evolved.
基金supported by the National Science Fund for Distinguished Young Scholars (No. 50725826).
文摘Based on the theory of Timoshenko and thin-walled beams, a new finite element model of spatial thin-walled beams with general open cross sections is presented in the paper, in which several factors are included such as lateral shear deformation, warp generated by nonuni- form torsion and second-order shear stress, coupling of flexure and torsion, and large displacement with small strain. With an additional internal node in the element, the element stiffness matrix is deduced by incremental virtual work in updated Lagrangian （UL） formulation. Numerical examples demonstrate that the presented model well describes the geometrically nonlinear property of spatial thin-walled beams.
基金the Joint Funds of the National Natural Science Foundation of China(Grant No.U1834202).
文摘Time-varying stiffness is one of the most important dynamic characteristics of rolling element bearings.The method of analyzing the elements in the bearing stiffness matrix is usually adopted to investigate the characteristics of bearing stiffness.Linear mapping structure of the bearing stiffness matrix is helpful to understand the varying compliance excitation and its influence on vibration transmission.In this study,a method to analyze the mapping structure of bearing stiffness matrix is proposed based on the singular value decomposition of block matrices in the stiffness matrix.Not only does this method have the advantages of coordinate transformation independence and unit independence,but also the analysis procedure involved is geometrically intuitive.The time-varying stiffness matrix of double-row tapered bearing is calculated and analyzed using the proposed method under two representative load cases.The principal stiffnesses and principal axes defined in the method together indicate the dominant and insignificant stiffness properties with the corresponding directions,and the vibration transmission properties are also revealed.Besides,the coupling behaviors between different shaft motions are found during the analysis of mapping structure.The mechanism of the generation of varying compliance excitation is also revealed.
