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This paper deals with a finite element evaluation of new kind of robotic arm based on a complete inflatable structure. Soft robotics and particularly inflatable robotics are now considered as a credible alternative to classical structures for a wide field of robotics. As they are made of textile materials, inflatable robots allow compact packaging and easier robot deployment. Moreover, they could...
A method based on finite element model is presented that is used to identify stiffness of mechanical joint. By means of shock excitation, response of the system is obtained in which joints are included. Fourier Transform is used to obtained response spectrum of system. Based on FEM, the system model including joints is build and then low order natural frequencies are obtained by modal analysis. Natural...
The combination of ANSYS and ADAMS can improve the precision of system simulation. In this paper, first, a cable-stayed space truss, consisting of stay cables, columns, and the space truss, is built in ANSYS. Second, the modal neutral file (mnf) needed in ADAMS is generated by executing the macro command “ADAMS” and then imported into ADAMS software. Third, the flexible body in the mnf file is connected...
The main contribution of this paper is a procedure for the control by energy shaping via Casimir generation of high-order port-Hamiltonian systems obtained from the spatial discretization of infinite dimensional dynamics. Beside the intrinsic difficulties related to the large number of state variables, the finite element model is generally given in terms of a Dirac structure and is completely a-causal,...
The tall building push-over analysis program (TBPOA) puts forward precise, concise and practical ways of 3D push-over analysis and static elasto-plastic analysis for reinforced concrete tall buildings. Column and beam elements of TBPOA are modeled by nonlinear bar units, while wall elements by nonlinear bar units considering shearing deformation. Based on the plane cross-section assumption, surface...
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