Formation of rigid zones in viscoplastic medium

1975 ◽  
Vol 15 (3) ◽  
pp. 400-405 ◽  
Author(s):  
E. M. Emel'yanov ◽  
A. D. Chernyshov
Keyword(s):  
Viscoplastic Medium ◽  
Rigid Zones

Selection of the Optimal Distribution for the Upper Bound Theorem in Indentation Processes

2014 ◽  
Vol 797 ◽  
pp. 117-122 ◽  
Author(s):  
Carolina Bermudo ◽  
F. Martín ◽  
Lorenzo Sevilla
Keyword(s):  
Upper Bound ◽  
Geometric Distribution ◽  
Optimal Choice ◽  
Optimal Distribution ◽  
Upper Bound Theorem ◽  
Modular Model ◽  
Bound Theorem ◽  
Rigid Zones ◽  
Dimensionless Relation ◽  
Selection Of

It has been established, in previous studies, the best adaptation and solution for the implementation of the modular model, being the current choice based on the minimization of the p/2k dimensionless relation obtained for each one of the model, analyzed under the same boundary conditions and efforts. Among the different cases covered, this paper shows the study for the optimal choice of the geometric distribution of zones. The Upper Bound Theorem (UBT) by its Triangular Rigid Zones (TRZ) consideration, under modular distribution, is applied to indentation processes. To extend the application of the model, cases of different thicknesses are considered

Modeling and simulation of planar flexible link manipulators with rigid tip connections to revolute joints

Robotica ◽  
2004 ◽  
Vol 22 (3) ◽  
pp. 285-300 ◽  
Author(s):  
S. M. Megahed ◽  
K. T. Hamza
Keyword(s):  
Mass Matrix ◽  
Equations Of Motion ◽  
Flexible Link ◽  
Link Length ◽  
Finite Segment ◽  
Revolute Joints ◽  
Body Dynamics ◽  
Lumped Masses ◽  
Multi Body ◽  
Rigid Zones

This paper presents the basis of a mathematical model for simulation of planar flexible-link manipulators, taking into consideration the effect of higher stiffness zones at the link tips. The proposed formulation is a variation of the finite segment multi-body dynamics approach. The formulation employs a consistent mass matrix in order to provide better approximation than the traditional lumped masses often encountered in the finite segment approach. The formulation is implemented into a computational code and tested through three examples; cantilever beam, rotating beam and three-link manipulator. In these examples, the length of the rigid tips at both sides of each link ranges from 0% to 6.25% of the whole link length. The zones of higher stiffness at the link tips are treated as short rigid zones. The effect of the rigid zones is averaged along with some portions of the flexible links, thereby allowing further simplification of the dynamic equations of motion. The simulation results demonstrate the effectiveness of the proposed modeling technique and show the importance of not ignoring the effect of the rigid tips.

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