Optimal structural design of a planar parallel platform for machining

Parallel manipulators have many advantages over traditional serial manipulators. These advantages include high accuracy, high stiffness and high load-to-weight ratio, which make parallel manipulators ideal for machining operations where high accuracy is required to meet the requirements that modern standards demand.Recently, the finite element method has been used by some workers to determine the stiffness of spatial manipulators. These models are mainly used to verify stiffness predicted using kinematic equations, and are restricted to relatively simple truss-like models. In this study, state-of-the-art finite elements are used to determine the out of plane stiffness for parallel manipulators. Euler–Bernoulli beam elements and flat shell elements with drilling degrees of freedom are used to model the platform assembly.The main objective of this study is to quantify the stiffness, particularly the out of plane stiffness, of a planar parallel platform to be used for machining operations. The aim is to obtain a design that is able to carry out machining operations to an accuracy of 10 μm for a given tool force.Reducing the weight of a parallel manipulator used in machining applications has many advantages, e.g. increased maneuverability, resulting in faster material removal rates. Therefore the resulting proposed design is optimized with respect to weight, subject to displacement and stress constraints to ensure feasible stiffness and structural integrity. The optimization is carried out by means of two gradient-based methods, namely LFOPC and Dynamic-Q.     

On the multi-component layout design with inertial force

The purpose of this paper is to introduce inertial forces into the proposed integrated layout optimization method designing the multi-component systems. Considering a complex packing system for which several components will be placed in a container of specific shape, the aim of the design procedure is to find the optimal location and orientation of each component, as well as the configuration of the structure that supports and interconnects the components. On the one hand, the Finite-circle Method (FCM) is used to avoid the components overlaps, and also overlaps between components and the design domain boundaries. One the other hand, the optimal material layout of the supporting structure in the design domain is designed by topology optimization. A consistent material interpolation scheme between element stiffness and inertial load is presented to avoid the singularity of localized deformation due to the presence of design dependent inertial loading when the element stiffness and the involved inertial load are weakened with the element material removal. The tested numerical example shows the proposed methods extend the actual concept of topology optimization and are efficient to generate reasonable design patterns.     

Una formulación de mínimo peso con restricciones en tensión en optimización topológica de estructuras

Optimum design of structures has been traditionally focused on the analysis of shape and dimensions optimization problems. However, more recently a new discipline has emerged: the topology optimization of the structures. This discipline states innovative models that allow to obtain optimal solutions without a previous definition of the type of structure being considered. These formulations obtain the optimal topology and the optimal shape and size of the resulting elements. The most usual formulations of the topology optimization problem try to obtain the structure of maximum stiffness. These approaches maximize the stiffness for a given amount of material to be used. These formulations have been widely analyzed and applied in engineering but they present considerable drawbacks from a numerical and from a practical point of view. In this paper the author propose a different formulation, as an alternative to maximum stiffness approaches, that minimizes the weight and includes stress constraints. The advantages of this kind of formulations are crucial since the cost of the structure is minimized, which is the most frequent objective in engineering, and they guarantee the structural feasibility since stresses are constrained. In addition, this approach allows to avoid some of the drawbacks and numerical instabilities related to maximum stiffness approaches. Finally, some practical examples have been solved in order to verify the validity of the results obtained and the advantages of the proposed formulation.     

Locating damaged storeys in a structure based on its identified modal parameters in Cauchy wavelet domain

Structural damage detection based on the changes of dynamic properties is a major topic for structural health monitoring. In this paper, efforts are made to extend the flexibility-based damage localization methods, especially the damage locating vectors (DLVs) method, to the case of earthquake vibration, where the finite element model and mass matrices are not available. First, a new method using continuous Cauchy wavelet transform (CCWT) and state-variable time series model is proposed to identify the modal parameters of a structure. Then the flexibility matrix can be constructed from the identified modal parameters. Second, a modified DLVs damage assessment approach is also proposed to locate damage positions in the structure through a weighted relative displacement index (WRDI). This index is calculated by using DLVs vectors determined from the change of flexibility matrix before and after damage of the structure. Numerical analyses demonstrate that the proposed process can indeed monitor the variation of stiffness for each storey. These two approaches are further applied to process the dynamic responses of three-storey and eight-storey steel frames in shaking table tests. The proposed scheme is also proved to be superior to mode shape based methods (CMS, COMAC) in monitoring the variation of stiffness for each storey.     

On various aspects of evolutionary structural optimization for problems with stiffness constraints

An evolutionary structural optimization (ESO) method for problems with stiffness constraints which is capable of performing simultaneous shape and topology optimization has been recently presented. This paper discusses various aspects of this method such as influences of the element removal ratio, the mesh size and the element type on optimal designs.     

Dual approaches to finite element model updating

The problem of finding the least change adjustment to a stiffness matrix modeled by finite element method is considered in this paper. Desired stiffness matrix properties such as symmetry, sparsity, positive semidefiniteness, and satisfaction of the characteristic equation are imposed as side constraints of the constructed optimal matrix approximation for updating the stiffness matrix, which matches measured data better. The dual problems of the original constrained minimization are presented and solved by subgradient algorithms with different line search strategies. Some numerical results are included to illustrate the performance and application of the proposed methods.     

Optimization of arches using genetic algorithm

An optimization procedure is presented for the minimum weight and strain energy optimization for arch structures subjected to constraints on stress, displacement and weight responses. Both thickness and shape variables defining the natural line of the arch are considered. The computer program which is developed in this study can be used to optimize thick, thin and variable thickness curved beams/arches. An automated optimization procedure is adopted which integrates finite element analysis, parametric cubic spline geometry definition, automatic mesh generation and genetic algorithm methods. Several examples are presented to illustrate optimal arch structures with smooth shapes and thickness variations. The changes in the relative contributions of the bending, membrane and shear strain energies are monitored during the whole process of optimization.     

A influência do peso próprio na otimização topológica de estruturas elásticas 2D – via técnica numérica Smooth Evolutionary Structural Optimization (SESO)

This paper deals with topology optimization in plane elastic‐linear problems considering the influence of the self weight in efforts in structural elements. For this purpose it is used a numerical technique called SESO (Smooth ESO), which is based on the procedure for progressive decrease of the inefficient stiffness element contribution at lower stresses until he has no more influence. The SESO is applied with the finite element method and is utilized a triangular finite element and high order. This paper extends the technique SESO for application its self weight where the program, in computing the volume and specific weight, automatically generates a concentrated equivalent force to each node of the element. The evaluation is finalized with the definition of a model of strut‐and‐tie resulting in regions of stress concentration. Examples are presented with optimum topology structures obtaining optimal settings.     

General shape optimization capability

Structural optimization is almost as old as the finite element method (FEM). Whereas FEM found its way to real-life applications very quickly, structural optimization remained a topic of interest in the research community for many years. However, there have been a number of attemps recently to develop general purpose program systems for property optimization. For shape optimization, there is no general purpose code currently available that can solve realistic problems. This paper will describe a method of calculating shape sensitivities within , in a simple manner, without resort to external programs. Once the shape sensitivities are obtained, the shape optimization process can proceed in a manner similar to property optimization. The key concept is the use of natural design variables to define the shape changes in a given structure. The design variables are the magnitudes of enforced displacements applied to the structure. The displacements produced by these variables are added to the initial shape to obtain a new shape. This approach can be computationally intensive and since one shape variable is dependent of another, multiple CPU's can be used to significantly reduce the solution time.

Two examples are solved to demonstrate the capability of these techniques. The first is a cantilever beam with holes loaded by a point load at the free end. The shape of the holes as well as the thickness of the beam are selected as the design variables. The second example is the shape optimization of a connecting rod subjected to several different loading and boundary conditions.     

Using artificial reaction force to design compliant mechanism with multiple equality displacement constraints

Monolithic compliant mechanisms are elastic workpieces which transmit force and displacement from an input position to an output position. Continuum topology optimization is suitable to generate the optimized topology, shape and size of such compliant mechanisms. The optimization strategy for a single input single output compliant mechanism under volume constraint is known to be best implemented using an optimality criteria or similar mathematical programming method. In this standard form, the method appears unsuitable for the design of compliant mechanisms which are subject to multiple outputs and multiple constraints. Therefore an optimization model that is subject to multiple design constraints is required. With regard to the design problem of compliant mechanisms subject to multiple equality displacement constraints and an area constraint, we here present a unified sensitivity analysis procedure based on artificial reaction forces, in which the key idea is built upon the Lagrange multiplier method. Because the resultant sensitivity expression obtained by this procedure already compromises the effects of all the equality displacement constraints, a simple optimization method, such as the optimality criteria method, can then be used to implement an area constraint. Mesh adaptation and anisotropic filtering method are used to obtain clearly defined monolithic compliant mechanisms without obvious hinges. Numerical examples in 2D and 3D based on linear small deformation analysis are presented to illustrate the success of the method.     

An evolution equation based approach to topology optimization

The objective of topology optimization is to find a mechanical structure with maximum stiffness and minimal amount of used material for given boundary conditions [2]. There are different approaches. Either the structure mass is held constant and the structure stiffness is increased or the amount of used material is constantly reduced while specific conditions are fulfilled. In contrast, we focus on the growth of a optimal structure from a void model space and solve this problem by introducing a variational problem considering the spatial distribution of structure mass (or density field) as variable [3]. By minimizing the Gibbs free energy according to Hamilton's principle in dynamics for dissipative processes, we are able to find an evolution equation for the internal variable describing the density field. Hence, our approach belongs to the growth strategies used for topology optimization. We introduce a Lagrange multiplier to control the total mass within the model space [1]. Thus, the numerical solution can be provided in a single finite element environment as known from material modeling. A regularization with a discontinuous Galerkin approach for the density field enables us to suppress the well-known checkerboarding phenomena while evaluating the evolution equation within each finite element separately [4]. Therefore, the density field is no additional field unknown but a Gauß-point quantity and the calculation effort is strongly reduced. Finally, we present solutions of optimized structures for different boundary problems. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Structural damage detection using an efficient correlation-based index and a modified genetic algorithm

An efficient optimization procedure is proposed to detect multiple damage in structural systems. Natural frequency changes of a structure are considered as a criterion for damage presence. In order to evaluate the required natural frequencies, a finite element analysis (FEA) is utilized. A modified genetic algorithm (MGA) with two new operators (health and simulator operators) is presented to accurately detect the locations and extent of the eventual damage. An efficient correlation-based index (ECBI) as the objective function for the optimization algorithm is also introduced. The numerical results of two benchmark examples considering the measurement noise demonstrate the computational advantages of the proposed method to precisely determine the sites and the extent of multiple structural damage.     

On the determination of natural frequencies and mode shapes of cable-stayed bridges

An accurate analysis of the natural frequencies and mode shapes of a cable-stayed bridge is fundamental to the solution of its dynamic responses due to seismic, wind and traffic loads. In most previous studies, the stay cables have been modelled as single truss elements in conventional finite element analysis. This method is simple but it is inadequate for the accurate dynamic analysis of a cable-stayed bridge because it essentially precludes the transverse cable vibrations. This paper presents a comprehensive study of various modelling schemes for the dynamic analysis of cable-stayed bridges. The modelling schemes studied include the finite element method and the dynamic stiffness method. Both the mesh options of modelling each stay cable as a single truss element with an equivalent modulus and modelling each stay cable by a number of cable elements with the original modulus are studied. Their capability to account for transverse cable vibrations in the overall dynamic analysis as well as their accuracy and efficiency are investigated.     

一种不完全信息的多属性决策模型及其灵敏度分析

针对具有区间信任结构的不完全信息的多属性决策问题,建立了一组集结各属性区间信任度的优化模型,得到每个方案属于各个评价等级的总体信任度.在这一优化模型的基础上,建立了计算期望效用值的约束优化模型,通过求解该优化问题,得到各方案的期望效用值,用期望效用值对决策方案进行排序.分析了期望效用值对属性权系数的灵敏度,提出了一种方案排序结果对决策参数的灵敏度分析方法.最后,用算例验证了模型的有效性.     

Advances in concrete arch dams shape optimization

This paper presents an efficient methodology to find the optimum shape of arch dams. In order to create the geometry of arch dams a new algorithm based on Hermit Splines is proposed. A finite element based shape sensitivity analysis for design-dependent loadings involving body force, hydrostatic pressure and earthquake loadings is implemented. The sensitivity analysis is performed using the concept of mesh design velocity. In order to consider the practical requirements in the optimization model such as construction stages, many geometrical and behavioral constrains are included in the model in comparison with previous researches. The optimization problem is solved via the sequential quadratic programming (SQP) method. The proposed methods are applied successfully to an Iranian arch dam, and good results are achieved. By using such methodology, efficient software for shape optimization of concrete arch dams for practical and reliable design now is available.     

A modified scaled boundary finite element method for dynamic response of a discontinuous layered half-space

In this paper, a modified scaled boundary finite element method is proposed to deal with the dynamic analysis of a discontinuous layered half-space. In order to describe the geometry of discontinuous layered half-space exactly, splicing lines, rather than a point, are chosen as the scaling center. Based on the modified scaled boundary transformation of the geometry, the Galerkin's weighted residual technique is applied to obtain the corresponding scaled boundary finite element equations in displacement. Then a modified version of dimensionless frequency is defined, and the governing first-order partial differential equations in dynamic stiffness with respect to the excitation frequency are obtained. The global stiffness is obtained by adding the dynamic stiffness of the interior domain calculated by a standard finite element method, and the dynamic stiffness of far field is calculated by the proposed method. The comparison of two existing solutions for a horizontal layered half-space confirms the accuracy and efficiency of the proposed approach. Finally, the dynamic response of a discontinuous layered half-space due to vertical uniform strip loadings is investigated.     

基于离散变量的拓扑优化方法

单元敏度的不准确估计是离散拓扑优化算法数值不稳定的原因之一,特别是添加材料时,传统的敏度计算公式给出的估计误差较大,甚至有时估计符号都是错误的．为了克服这一问题,通过对弹性平衡增量方程的摄动分析构造了新的增量敏度估计公式．这一新的公式无论是添加材料还是删除材料都能较准确地估计出目标函数增量,它可以看作是通过非局部单元刚度阵对传统敏度分析公式的修正．以此为基础构建了一种基于离散变量的拓扑优化算法,它可以从任意单元上添加或删除材料以使目标函数减小,同时为避免优化过程中重新划分网格,采用了单元软杀策略以小刚度材料模拟空单元．这一方法的主要优点是简单,不需要太多的数学计算,特别有利于工程实际的应用．     

应力协调迭代法在高速冲击动力有限元中的应用

在EPIC[2][3],NONSAP[4]等弹塑性撞击动力有限元程序中,有一个共同的弱点是都采取了静力有限元方法,把位移函数用线性插值表示.单元之间应力是非协调的.因此应用虚功原理的基础不合理.为了克服以上困难,本文引入一个新的方法,即协调应力迭代法.实例表明,这种方法在冲击动力有限元计算中是稳定和精确的,同时具有减小单元刚度的作用.     

Stability analysis of frame structures by bubble-function method

In the stability analysis of frame structures, the results by conventional finite element method (FEM) in which one member is taken as one element are sometimes unavailable. This paper took a new basic function system with bubble functions as the shape function of a bar element to develop a bubble function finite element method (BFEM), in which the bending and the geometric stiffness matrices were derived from the principle of virtual work. Bubble functions are finite element modes that are located entirely within a single element and are zero on boundaries of the element, but are nonzero at the other points. BFEM is as concise as conventional bar FEM but has better accuracy, and is adaptable to the buckling analysis of all kinds of frame structures. The use of bubble functions significantly improves the convergence of finite element analysis, and efficiently reduces the computation cost for the buckling analysis of frame structures. Numerical results show that using bubble functions in finite element for the stability analysis of structures is very efficient, especially for high-rise and large-scale frame structures.