An incremental finite element analysis of mechanisms and robots

K. N. Spentzas, S. A. Kanarachos

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

In this paper, we present an incremental finite element method of analysis of mechanisms/robots. Our method is based on the idea to decompose any large displacement of a mechanism or robot arm in a series of successive small displacements, so small that the linear finite element method can be applied in their analysis between two successive positions. Evidently, at the end of any small displacement, the position of a deformed member of the mechanism gives us the initial conditions for the following small displacement. After presentation of all the theoretical background of the method, we illustrate it by application to the crank-slider mechanism and to the four-bar-linkage mechanism.

Original languageEnglish
Pages (from-to)209-219
Number of pages11
JournalForschung im Ingenieurwesen
Volume67
Issue number5
DOIs
Publication statusPublished - 2002
Externally publishedYes

Fingerprint

Robots
Finite element method

ASJC Scopus subject areas

  • Engineering(all)

Cite this

An incremental finite element analysis of mechanisms and robots. / Spentzas, K. N.; Kanarachos, S. A.

In: Forschung im Ingenieurwesen, Vol. 67, No. 5, 2002, p. 209-219.

Research output: Contribution to journalArticle

@article{cecf90e1a5fb48219853d7817172c0ad,
title = "An incremental finite element analysis of mechanisms and robots",
abstract = "In this paper, we present an incremental finite element method of analysis of mechanisms/robots. Our method is based on the idea to decompose any large displacement of a mechanism or robot arm in a series of successive small displacements, so small that the linear finite element method can be applied in their analysis between two successive positions. Evidently, at the end of any small displacement, the position of a deformed member of the mechanism gives us the initial conditions for the following small displacement. After presentation of all the theoretical background of the method, we illustrate it by application to the crank-slider mechanism and to the four-bar-linkage mechanism.",
author = "Spentzas, {K. N.} and Kanarachos, {S. A.}",
year = "2002",
doi = "10.1007/s10010-002-0094-z",
language = "English",
volume = "67",
pages = "209--219",
journal = "Forschung im Ingenieurwesen",
issn = "0015-7899",
publisher = "Springer Verlag",
number = "5",

}

TY - JOUR

T1 - An incremental finite element analysis of mechanisms and robots

AU - Spentzas, K. N.

AU - Kanarachos, S. A.

PY - 2002

Y1 - 2002

N2 - In this paper, we present an incremental finite element method of analysis of mechanisms/robots. Our method is based on the idea to decompose any large displacement of a mechanism or robot arm in a series of successive small displacements, so small that the linear finite element method can be applied in their analysis between two successive positions. Evidently, at the end of any small displacement, the position of a deformed member of the mechanism gives us the initial conditions for the following small displacement. After presentation of all the theoretical background of the method, we illustrate it by application to the crank-slider mechanism and to the four-bar-linkage mechanism.

AB - In this paper, we present an incremental finite element method of analysis of mechanisms/robots. Our method is based on the idea to decompose any large displacement of a mechanism or robot arm in a series of successive small displacements, so small that the linear finite element method can be applied in their analysis between two successive positions. Evidently, at the end of any small displacement, the position of a deformed member of the mechanism gives us the initial conditions for the following small displacement. After presentation of all the theoretical background of the method, we illustrate it by application to the crank-slider mechanism and to the four-bar-linkage mechanism.

UR - http://www.scopus.com/inward/record.url?scp=0036980669&partnerID=8YFLogxK

U2 - 10.1007/s10010-002-0094-z

DO - 10.1007/s10010-002-0094-z

M3 - Article

VL - 67

SP - 209

EP - 219

JO - Forschung im Ingenieurwesen

JF - Forschung im Ingenieurwesen

SN - 0015-7899

IS - 5

ER -