Title: Finite element methods for the design of mechanisms and robotic manipulators

Authors: Z.P. Sadler, Z. Yang, B.A. Askren

Addresses: Center for Robotics and Manufacturing Systems, University of Kentucky, Lexington, Kentucky 40506, USA. ' Center for Robotics and Manufacturing Systems, University of Kentucky, Lexington, Kentucky 40506, USA. ' Center for Robotics and Manufacturing Systems, University of Kentucky, Lexington, Kentucky 40506, USA

Abstract: The finite element method is utilised for the analysis and design of mechanisms, including robotic manipulators. Both planar and spatial mechanisms are investigated. Three types of analysis are examined: static analysis, modal analysis, and nonlinear transient dynamic analysis. Mechanism members are modelled using a variety of element types. Pin joints are represented using either revolute-joint elements or joint release features through the inclusion of appropriate constraint equations. Both prescribed mechanism input motions and prescribed input forces are considered. Several examples are presented.

Keywords: mechanism design; finite element method; FEM; modal analysis; nonlinear transient dynamic analysis; robotic manipulators; static analysis; robot design.

DOI: 10.1504/IJCAT.1994.062535

International Journal of Computer Applications in Technology, 1994 Vol.7 No.3/4/5/6, pp.305 - 315

Published online: 09 Jun 2014 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article