A novel three-dimensional robotic surface is devised using triangular modules connected by revolute joints that mimic the constraints of a spherical joint at each triangle intersection. The finite element method (FEM) is applied to the dynamic loading of this device using three dimensional (6 degrees of freedom) beam elements to not only calculate the cartesian displacement and force, but also the angular displacement and torque at each joint. In this way, the traditional methods of finding joint forces and torques are completely bypassed. An effiecient algorithm is developed to linearly combine local mass and stiffness matrices into a full structural stiffness matrix for the easy application of loads. An analysis of optimal dynamic joint forces is carried out in Simulink® with the use of an algebraic Ricatti equation.
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ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
September 18–21, 2011
Scottsdale, Arizona, USA
Conference Sponsors:
- Aerospace Division
ISBN:
978-0-7918-5472-3
PROCEEDINGS PAPER
Dynamic Finite Element Analysis of a Highly Parallel Robotic Surface Available to Purchase
Chris Salisbury
Chris Salisbury
University of Nevada, Las Vegas, Las Vegas, NV
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Chris Salisbury
University of Nevada, Las Vegas, Las Vegas, NV
Paper No:
SMASIS2011-4974, pp. 79-88; 10 pages
Published Online:
February 7, 2012
Citation
Salisbury, C. "Dynamic Finite Element Analysis of a Highly Parallel Robotic Surface." Proceedings of the ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, Volume 2. Scottsdale, Arizona, USA. September 18–21, 2011. pp. 79-88. ASME. https://doi.org/10.1115/SMASIS2011-4974
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