A multi-fiber approach with directional stiffness matrix in reinforced concrete structures

Purpose This paper aims to develop a new multi-fiber element for predicting the structural behavior of planar-reinforced concrete (RC) members. Design/methodology/approach In this work, an exact multi-directional stiffness matrix is analytically derived based on the post-cracking bond-slip interaction between concrete and steel bars. The approach is also extended for large displacement analysis using Green–Lagrange finite strain tensor. In the proposed formulation, the weak form of governed differential equations is approximated by a trial-function expansion based on a finite strain-description and an additional degree of freedom for steel bars. Findings The findings provide a realistic description of cracking in the concrete structure. Numerical studies are conducted to examine the accuracy of the suggested approach and its capability to predict fairly complex responses of RC models. The findings prove that the proposed element can evaluate local and global responses of RC members, and it can be used as a reliable tool to reflect bond-slip effects in large displacement level. This leads to a robust and precise model for non-linear analysis of RC structures. Originality/value The methodology is capable of simulating coupled inelastic shear-flexural behavior of RC members through local stress field theory and Timoshenko beam model.

Directional Stiffness Modulation of Parallel Robots With Kinematic Redundancy and Variable Stiffness Joints

Parallel robots have been primarily investigated as potential mechanisms with stiffness modulation capabilities through the use of actuation redundancy to change internal preload. This paper investigates real-time stiffness modulation through the combined use of kinematic redundancy and variable stiffness actuators. A known notion of directional stiffness is used to guide the real-time geometric reconfiguration of a parallel robot and command changes in joint-level stiffness. A weighted gradient-projection redundancy resolution approach is demonstrated for resolving kinematic redundancy while satisfying the desired directional stiffness and avoiding singularity and collision between the legs of a Gough/Stewart parallel robot with movable anchor points at its base and with variable stiffness actuators. A simulation study is carried out to delineate the effects of using kinematic redundancy with or without the use of variable stiffness actuators. In addition, modulation of the entire stiffness matrix is demonstrated as an extension of the approach for modulating directional stiffness.

Interactions and Optimizations Analysis between Stiffness and Workspace of 3-UPU Robotic Mechanism

The interactions between stiffness and workspace performances are studied. The stiffness in x, y and z directions as well as the workspace of a 3-UPU mechanism are studied and optimized. The stiffness of the robotic system in every single moveable direction is measured and analyzed, and it is observed that in the case where one tries to make the x and y translational stiffness larger, the z directional stiffness will be reduced, i.e. the x and y translational stiffness contradicts with the one in z direction. Subsequently, the objective functions for the summation of the x and y translational stiffness and z directional stiffness are established and they are being optimized simultaneously. However, we later found that these two objectives are not in the same scale; a normalization of the objectives is thus taken into consideration. Meanwhile, the robotic system’s workspace is studied and optimized. Through comparing the stiffness landscape and the workspace volume landscape, it is also observed that the z translational stiffness shows the same changing tendency with the workspace volume’s changing tendency while the x and y translational stiffness shows the opposite changing tendency compared to the workspace volume’s. Via employing the Pareto front theory and differential evolution, the summation of the x and y translational stiffness and the volume of the workspace are being simultaneously optimized. Finally, the mechanism is employed to synthesize an exercise-walking machine for stroke patients.