Linear Complementary Based Formultions
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Robotics and Mechatronics
This book gathers the latest advances, innovations and applications in the field of robotics and mechatronics, as presented by leading international researchers and engineers at the 6th IFToMM International Symposium on Robotics and Mechatronics (ISRM), held in Taipei, Taiwan, on October 28–30, 2019. It covers highly diverse topics, including mechanism synthesis, analysis, and design, kinematics and dynamics of multibody systems, modelling and simulation, sensors and actuators, novel robotic systems, industrial- and service-related robotics and mechatronics, medical robotics, and historical developments in robotics and mechatronics. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that spur novel research directions and foster new, multidisciplinary collaborations.
Equilibrium Finite Element Formulations
Author: J. P. Moitinho de Almeida
language: en
Publisher: John Wiley & Sons
Release Date: 2017-03-20
A comprehensive treatment of the theory and practice of equilibrium finite element analysis in the context of solid and structural mechanics Equilibrium Finite Element Formulations is an up to date exposition on hybrid equilibrium finite elements, which are based on the direct approximation of the stress fields. The focus is on their derivation and on the advantages that strong forms of equilibrium can have, either when used independently or together with the more conventional displacement based elements. These elements solve two important problems of concern to computational structural mechanics: a rational basis for error estimation, which leads to bounds on quantities of interest that are vital for verification of the output and provision of outputs immediately useful to the engineer for structural design and assessment. Key features: Unique in its coverage of equilibrium – an essential reference work for those seeking solutions that are strongly equilibrated. The approach is not widely known, and should be of benefit to structural design and assessment. Thorough explanations of the formulations for: 2D and 3D continua, thick and thin bending of plates and potential problems; covering mainly linear aspects of behaviour, but also with some excursions into non-linearity. Highly relevant to the verification of numerical solutions, the basis for obtaining bounds of the errors is explained in detail. Simple illustrative examples are given, together with their physical interpretations. The most relevant issues regarding the computational implementation of this approach are presented. When strong equilibrium and finite elements are to be combined, the book is a must-have reference for postgraduate students, researchers in software development or numerical analysis, and industrial practitioners who want to keep up to date with progress in simulation tools.
Contact Force Models for Multibody Dynamics
This book analyzes several compliant contact force models within the context of multibody dynamics, while also revisiting the main issues associated with fundamental contact mechanics. In particular, it presents various contact force models, from linear to nonlinear, from purely elastic to dissipative, and describes their parameters. Addressing the different numerical methods and algorithms for contact problems in multibody systems, the book describes the gross motion of multibody systems by using a two-dimensional formulation based on the absolute coordinates and employs different contact models to represent contact-impact events. Results for selected planar multibody mechanical systems are presented and utilized to discuss the main assumptions and procedures adopted throughout this work. The material provided here indicates that the prediction of the dynamic behavior of mechanical systems involving contact-impact strongly depends on the choice of contact force model. In short, the book provides a comprehensive resource for the multibody dynamics community and beyond on modeling contact forces and the dynamics of mechanical systems undergoing contact-impact events.