Modeling of Flexible Robot-Payload Systems Through Component Synthesis

1998 ◽  
Vol 122 (2) ◽  
pp. 381-386 ◽  
Author(s):  
T. Zhou, ◽  
J. W. Zu, and ◽  
A. A. Goldenberg
Keyword(s):  
Degrees Of Freedom ◽  
Synthesis Method ◽  
Modeling Method ◽  
Component Mode Synthesis ◽  
Flexible Robot ◽  
Computationally Efficient ◽  
Efficient Manner ◽  
Robot Gripper ◽  
Coupling Dynamics ◽  
Rigid Body Motions

In this paper, a new modeling method is developed for analyzing the dynamic behavior of a system consisting of a rigid robotic manipulator and a flexible sheet metal payload. The component mode synthesis method is applied to reduce the degrees of freedom of the payload and to model the interfaces between the robot gripper and the payload. Using nonlinear compatibility functions, the method is modified to synthesize the dynamics of the entire robot-payload system. Exact models are developed capable of describing both large and small rigid-body motions. A modular form is derived and the coupling dynamics is formulated in a computationally efficient manner. Numerical examples are presented to demonstrate the effectiveness of the modeling method. [S0022-0434(00)01102-3]

Dynamic Analysis of Flexible Structures Using Component Mode Synthesis

1989 ◽  
Vol 56 (4) ◽  
pp. 874-880 ◽  
Author(s):  
M. De Smet ◽  
C. Liefooghe ◽  
P. Sas ◽  
R. Snoeys
Keyword(s):  
Finite Element ◽  
Finite Element Model ◽  
Degrees Of Freedom ◽  
Flexible Structures ◽  
Element Model ◽  
Component Mode Synthesis ◽  
Mode Shapes ◽  
Flexible Robot ◽  
Preliminary Calculation ◽  
Resonance Frequencies

In this paper a dynamic model of a flexible robot is built out of a finite element model of each of its links. The number of degrees-of-freedom of these models is strongly reduced by applying the Component Mode Synthesis technique which involves the preliminary calculation of a limited number of mode shapes of the separate links. As can be seen from examples, the type of boundary conditions thereby imposed in the nodes in which one link is connected to the others, strongly determines the accuracy of the calculated resonance frequencies of the robot. The method is applied to an industrial manipulator. The reduced finite element model of the robot is changed in order to match the numerically and experimentally (modal analysis) determined resonance data. Further, the influence of the position of the robot on its resonance frequencies is studied using the optimized numerical model.

The Application of Modal Synthesis Method in the Processing Center Dynamics Analysis

2012 ◽  
Vol 163 ◽  
pp. 207-210
Author(s):  
Peng Liu ◽  
Chun Jie Wang ◽  
Ru Sun
Keyword(s):  
Computational Efficiency ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Vibration Mode ◽  
Synthesis Method ◽  
Component Mode Synthesis ◽  
Dynamics Analysis ◽  
Full Model ◽  
Modal Synthesis ◽  
Five Axis

Modal synthesis method is a method which can reduce structural degrees of freedom, it is applicable for analysis and calculations of Machining centers and other large-scale structure. In this paper, the dynamical performance of Five-axis boring and milling processing center was studied with component mode synthesis technology . Compared with full model FEM, component mode synthesis technology could meet the accuracy requirements and have higher computational efficiency. Modal characteristics of processing center in different positions was studied, the result showed that each frequency of processing center in different position was different while the vibration mode remained unchanged.

Dynamics of Flexible Beam Using a Component Mode Synthesis Based Formulation

2001 ◽  
Author(s):  
Nobuyuki Kobayashi ◽  
Hiroyuki Sugiyama ◽  
Masahiro Watanabe
Keyword(s):  
Coordinate System ◽  
Synthesis Method ◽  
Rigid Bodies ◽  
The Body ◽  
Component Mode Synthesis ◽  
Flexible Beam ◽  
Beam Model ◽  
Robot Arm ◽  
Flexible Robot ◽  
Static Mode

Abstract This paper establishes a new formulation strategy for a flexible beam with large rotational motion. The finite element based formulation, which was previously developed for the analysis of the ‘Spaghetti Problem’ by the present authors, is extended to realize a low order and high accuracy beam model using a kind of component mode synthesis method. The deformation of the flexible beam is modeled by a combination of a static mode represented by a shape function and an analytically evaluated vibration mode clamed at both ends with respect to the body coordinate system. The body coordinate system satisfies the condition that the x-axis connects both ends of the beam. To demonstrate the efficiency and validity of the flexible beam model in multibody dynamics, a 2-link flexible robot arm is modeled as a flexible multibody system consisting of some rigid bodies and two flexible beams. Its validity is indicated by good agreement between numerical simulations and the experimental results.

Component Mode Synthesis of a Vehicle System Model Using the Fictitious Mass Method

2006 ◽  
Vol 129 (1) ◽  
pp. 73-83 ◽  
Author(s):  
M. Karpel ◽  
B. Moulin ◽  
V. Feldgun
Keyword(s):  
Finite Element ◽  
Degrees Of Freedom ◽  
Structural Model ◽  
Synthesis Method ◽  
Normal Modes ◽  
Low Frequency ◽  
Component Mode Synthesis ◽  
Response Analysis ◽  
Element Analysis ◽  
Local Boundary

A new procedure for dynamic analysis of complex structures, based on the fictitious-mass component mode synthesis method, is presented. Normal modes of separate components are calculated by finite-element analysis with the interface coordinates loaded with fictitious masses that generate local boundary deformations in the low-frequency modes. The original fictitious-mass method is extended to include three types of component interconnections: displacement constraints, connection elements, and structural links. The connection elements allow the introduction of springs and dampers between the interface points without adding structural degrees of freedom. The structural links facilitate the inclusion the discrete finite-element representation of typically small components in the coupling equations. This allows a convenient treatment of loose elements and the introduction of nonlinear effects and parametric studies in subsequent analyses. The new procedure is demonstrated with the structural model of a typical vehicle with four major substructures and a relatively large number of interface coordinates. High accuracy is obtained in calculating the natural frequencies and modes of the assembled structure and the separate components with the fictitious masses removed. Dynamic response analysis of the vehicle travelling over a rough road, performed by modal coupling, is in excellent agreement with that performed for the full model.

Dynamic Analysis of Cage Stress in Tapered Roller Bearings Using Component-Mode-Synthesis Method

2008 ◽  
Vol 131 (1) ◽  
Author(s):  
Tomoya Sakaguchi ◽  
Kazuyoshi Harada
Keyword(s):  
Rigid Body ◽  
Dynamic Analysis ◽  
Boundary Point ◽  
Axial Load ◽  
Synthesis Method ◽  
Load Condition ◽  
Component Mode Synthesis ◽  
Analysis Model ◽  
Tapered Roller ◽  
Tapered Roller Bearings

In order to investigate cage stress in tapered roller bearings, a dynamic analysis tool considering both the six degrees of freedom of motion of the rollers and cage and the elastic deformation of the cage was developed. Cage elastic deformation is equipped using a component-mode-synthesis (CMS) method. Contact forces on the elastically deforming surfaces of the cage pocket are calculated at all node points of finite-elements on it. The location and pattern of the boundary points required for the component-mode-synthesis method were examined by comparing cage stresses in a static condition of pocket forces and constraints calculated by using the finite-element and the CMS methods. These results indicated that one boundary point lying at the center on each bar is appropriate for the effective dynamic analysis model focusing on the cage stress, especially at the pocket corners of the cages, which are actually broken. A behavior measurement of a polyamide cage in a tapered roller bearing was conducted for validating the analysis model. It was confirmed in both the experiment and analysis that the cage whirled under a large axial load condition and the cage center oscillated in a small amplitude under a small axial load condition. In the analysis, the authors discussed the four models including elastic bodies having a normal eigenmode of 0, 8 or 22, and rigid-body. There were small differences among the cage center loci of the four models. These two cages having normal eigenmodes of 0 and rigid-body whirled with imperceptible fluctuations. At least approximately 8 normal eigenmodes of cages should be introduced to conduct a more accurate dynamic analysis although the effect of the number of normal eigenmodes on the stresses at the pocket corners was insignificant. From the above, it was concluded to be appropriate to introduce one boundary point lying at the center on each pocket bar of cages and approximately 8 normal eigenmodes to effectively introduce the cage elastic deformations into a dynamic analysis model.

Selection of Degrees of Freedom for Dynamic Analysis

1987 ◽  
Vol 109 (1) ◽  
pp. 65-69 ◽  
Author(s):  
K. W. Matta
Keyword(s):  
Finite Element ◽  
Dynamic Analysis ◽  
Degrees Of Freedom ◽  
General Purpose ◽  
Component Mode Synthesis ◽  
Complex Structures ◽  
Large Complex ◽  
Static Condensation ◽  
Basis Vectors ◽  
Selection Of

A technique for the selection of dynamic degrees of freedom (DDOF) of large, complex structures for dynamic analysis is described and the formulation of Ritz basis vectors for static condensation and component mode synthesis is presented. Generally, the selection of DDOF is left to the judgment of engineers. For large, complex structures, however, a danger of poor or improper selection of DDOF exists. An improper selection may result in singularity of the eigenvalue problem, or in missing some of the lower frequencies. This technique can be used to select the DDOF to reduce the size of large eigenproblems and to select the DDOF to eliminate the singularities of the assembled eigenproblem of component mode synthesis. The execution of this technique is discussed in this paper. Examples are given for using this technique in conjunction with a general purpose finite element computer program GENSAM[1].

scholarly journals Computationally Efficient Magnetic Resonance Imaging Based Surface Contact Modeling as a Tool to Evaluate Joint Injuries and Outcomes of Surgical Interventions Compared to Finite Element Modeling

2014 ◽  
Vol 136 (4) ◽  
Author(s):  
Joshua E. Johnson ◽  
Phil Lee ◽  
Terence E. McIff ◽  
E. Bruce Toby ◽  
Kenneth J. Fischer
Keyword(s):  
Finite Element ◽  
Finite Element Modeling ◽  
Joint Mechanics ◽  
Computationally Efficient ◽  
Efficient Manner ◽  
Element Modeling ◽  
Joint Injuries ◽  
Surface Contact ◽  
Joint Contact ◽  
Contact Pressures

Joint injuries and the resulting posttraumatic osteoarthritis (OA) are a significant problem. There is still a need for tools to evaluate joint injuries, their effect on joint mechanics, and the relationship between altered mechanics and OA. Better understanding of injuries and their relationship to OA may aid in the development or refinement of treatment methods. This may be partially achieved by monitoring changes in joint mechanics that are a direct consequence of injury. Techniques such as image-based finite element modeling can provide in vivo joint mechanics data but can also be laborious and computationally expensive. Alternate modeling techniques that can provide similar results in a computationally efficient manner are an attractive prospect. It is likely possible to estimate risk of OA due to injury from surface contact mechanics data alone. The objective of this study was to compare joint contact mechanics from image-based surface contact modeling (SCM) and finite element modeling (FEM) in normal, injured (scapholunate ligament tear), and surgically repaired radiocarpal joints. Since FEM is accepted as the gold standard to evaluate joint contact stresses, our assumption was that results obtained using this method would accurately represent the true value. Magnetic resonance images (MRI) of the normal, injured, and postoperative wrists of three subjects were acquired when relaxed and during functional grasp. Surface and volumetric models of the radiolunate and radioscaphoid articulations were constructed from the relaxed images for SCM and FEM analyses, respectively. Kinematic boundary conditions were acquired from image registration between the relaxed and grasp images. For the SCM technique, a linear contact relationship was used to estimate contact outcomes based on interactions of the rigid articular surfaces in contact. For FEM, a pressure-overclosure relationship was used to estimate outcomes based on deformable body contact interactions. The SCM technique was able to evaluate variations in contact outcomes arising from scapholunate ligament injury and also the effects of surgical repair, with similar accuracy to the FEM gold standard. At least 80% of contact forces, peak contact pressures, mean contact pressures and contact areas from SCM were within 10 N, 0.5 MPa, 0.2 MPa, and 15 mm2, respectively, of the results from FEM, regardless of the state of the wrist. Depending on the application, the MRI-based SCM technique has the potential to provide clinically relevant subject-specific results in a computationally efficient manner compared to FEM.

Sign in / Sign up

Export Citation Format

Share Document