• Structural Engineering and Mechanics
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• v.62 no.5
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.9
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• pp.1041-1050
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• 2011

An elasto-plastic finite element method using the theory of strain gradient plasticity is proposed to evaluate the size dependency of structural plasticity that occurs when the configuration size decreases to micron scale. For this method, we suggest a low-order plane and three-dimensional displacement-based elements, eliminating the need for a high order, many degrees of freedom, a mixed element, or super elements, which have been considered necessary in previous researches. The proposed method can be performed in the framework of nonlinear incremental analysis in which plastic strains are calculated and averaged at nodes. These strains are then interpolated and differentiated for gradient calculation. We adopted a strain-gradient-hardening constitutive equation from the Taylor dislocation model, which requires the plastic strain gradient. The developed finite elements are tested numerically on the basis of typical size-effect problems such as micro-bending, micro-torsion, and micro-voids. With respect to the strain gradient plasticity, i.e., the size effects, the results obtained by using the proposed method, which are simple in their calculation, are in good agreement with the experimental results cited in previously published papers.