Geometrical nonlinear elasto-plastic analysis of tensegrity systems via the co-rotational method

An efficient finite element formulation is presented for geometrical nonlinear elasto-plastic analyses of tensegrity systems based on the co-rotational method. Large displacement of a space rod element is decomposed into a rigid body motion in the global coordinate system and a pure small deformation in the local coordinate system. A new form of tangent stiffness matrix, including elastic and elasto-plastic stages is derived based on the proposed approach. An incremental-iterative solution strategy in conjunction with the Newton-Raphson method is employed to obtain the geometrical nonlinear elasto-plastic behavior of tensegrities. Several numerical examples are given to illustrate the validity and efficiency of the proposed algorithm for geometrical nonlinear elasto-plastic analyses of tensegrity structures.     

Post-divergence and post-flutter analysis of sub-tangentially loaded and damped Beck column using a nonlinear FE procedure

Both post-divergence and post-flutter behaviors of damped Beck columns subjected to a sub-tangentially follower force are rigorously explored using an exact co-rotational frame element. First a linear stability theory of the damped Beck column is summarized using a stability map. A geometrically nonlinear frame element based on the co-rotational formulation is then formulated including mass matrix, Rayleigh damping matrix, and load-correction stiffness matrix due to circulatory forces. The dynamic FE analysis is performed using Newmark integration method. Finally a Beck column model is parametrically analyzed in order to investigate non-linear stability characteristics of the internally and externally damped non-conservative system. In particular, interesting nonlinear behaviors of Beck column quite different from those predicted by the linear theory are reported through static and dynamic nonlinear analysis with variation of sub-tangentiality of the follower force.     

饱和多孔介质中的混合有限元法和有限应变下应变局部化分析

对基于Biot理论的饱和多孔介质中动力-渗流耦合分析提出了一个耦合场混合元．固相位移、应变和有效应力以及流相压力、压力梯度和Darcy速度在单元内均处理为独立变量分别插值．基于胡海昌-Washizu三变量广义变分原理给出的饱和多孔介质动力-渗流耦合问题控制方程的单元弱形式，导出了单元公式．进一步导出了考虑压力相关非关联塑性的非线性单元公式和发展了相应的一致性算法．对几何非线性分析，采用了共旋公式途径．数值结果例题显示所发展耦合场混合元模拟大应变下由应变软化引起以应变局部化为特征的渐进破坏现象的性能．     

Stability conditions of prestressed pin-jointed structures

Pin-jointed structures are first classified to trusses, tensile structures, and tensegrity structures in view of their respective stability properties. A sufficient condition for stability of an equilibrium state is derived for tensegrity structures. The condition is based on the bilinear forms of the linear and geometrical stiffness matrices considering the flexibility of members. The stability is defined by the positive definiteness of the tangent stiffness matrix, whereas the definition of prestress-stability is based on the geometrical stiffness matrix and the infinitesimal mechanisms. Numerical examples verify that the so-called super-stability condition might not be satisfied by a stable tensegrity structure, and that a prestress-stable structure can be unstable if the prestresses are moderately large.     

Adaptive force density method for form-finding problem of tensegrity structures

A numerical method is presented for form-finding of tensegrity structures. Eigenvalue analysis and spectral decomposition are carried out iteratively to find the feasible set of force densities that satisfies the requirement on rank deficiency of the equilibrium matrix with respect to the nodal coordinates. The equilibrium matrix is shown to correspond to the geometrical stiffness matrix in the conventional finite element formulation. A unique and non-degenerate configuration of the structure can then be obtained by specifying an independent set of nodal coordinates. A simple explanation is given for the required rank deficiency of the equilibrium matrix that leads to a non-degenerate structure. Several numerical examples are presented to illustrate the robustness as well as the strong ability of searching new configurations of the proposed method.     

A novel method of determining the sole configuration of tensegrity structures

A novel analysis method is presented for form-finding of tensegrity structures. The spectral decomposition of the force density matrix and the singular value decomposition of the equilibrium matrix are performed iteratively to find the feasible sets of nodal coordinates and force densities. An algorithm of determining the sole configuration of free-form tensegrities is provided by specifying an independent set of nodal coordinates, which indicates the geometrical and mechanical properties of the structures can be at least partly controlled by the proposed method. Several illustrative examples are presented to demonstrate the efficiency and robustness in finding self-equilibrium configurations of tensegrity structures.     

张拉整体结构的动力学等效建模与实验验证

为了实现张拉整体结构高效动力学计算, 并考虑其大范围运动中柔性杆局部动态屈曲, 提出了一种受压细长杆动力学降阶模型, 采用五节点弹/扭簧集中质量离散模型等效连续杆的静力学和动力学特性. 首先, 通过静力学等效分析推导了弹簧拉压刚度和扭簧弯曲刚度表达式, 可准确预测杆件受压屈曲和近似预测其后屈曲行为. 第二, 通过动能等效分析推导了集中质量表达式, 可准确预测杆在线速度场下的运动. 第三, 通过弯曲振动固有模态等效分析确定弯曲刚度和节点质量的分布参数, 合适的分布参数取值组合可将降阶模型前两阶固有频率相对误差均降低至1%以内. 第四, 在全局坐标系下建立张拉整体结构瞬态动力学方程, 并利用静力凝聚法实现方程高效迭代求解. 最后, 分别对球形张拉整体结构准静态压缩、模态分析和碰撞动力学进行仿真和实验对比分析, 证明了提出的动力学降阶模型可有效预测张拉整体结构的静力学行为、固有振动特性及瞬态动力学响应, 并分析了结构参数变化对其力学特性的影响规律. 本文提出的动力学等效建模与计算方法, 可望用于软着陆行星探测器、大型可展开空间结构及点阵材料等复杂张拉整体系统的动力学分析与控制.      

Dynamic analysis of geometrically nonlinear robot manipulators

In this paper, a method for the dynamic analysis of geometrically nonlinear elastic robot manipulators is presented. Robot arm elasticity is introduced using a finite element method which allows for the gross arm rotations. A shape function which accounts for the combined effects of rotary inertia and shear deformation is employed to describe the arm deformation relative to a selected component reference. Geometric elastic nonlinearities are introduced into the formulation by retaining the quadratic terms in the strain-displacement relationships. This has lead to a new stiffness matrix that depends on the rotary inertia and shear deformation and which has to be iteratively updated during the dynamic simulation. Mechanical joints are introduced into the formulation using a set of nonlinear algebraic constraint equations. A set of independent coordinates is identified over each subinterval and is employed to define the system state equations. In order to exemplify the analysis, a two-armed robot manipulator is solved. In this example, the effect of introducing geometric elastic nonlinearities and inertia nonlinearities on the robot arm kinematics, deformations, joint reaction forces and end-effector trajectory are investigated.     

Non-linear analysis of structures using two-point method

Non-linear algebraic equations must be solved by an iterative method, the non-linear equations being linearized by evaluating the non-linear terms with the known solution from the preceding iteration. The Newton-Raphson method, which is based on the Taylor series expansion and uses the tangent stiffness matrix, has been extensively used to solve non-linear problems. In this paper, a new Newton-Raphson algorithm is developed for analyses involving non-linear behavior. Our method, here named as a two-point method, is constructed as a predictor-corrector one, most frequently taking Newton's method in the first iteration. It should be noted that our concern in this research ignores the problem of passing limit points. The presented method incorporates the known information at each stage of the loading process to determine the subsequent unknown variables. Compared with the classic Newton-Raphson algorithm, it offers a strategy that can be deployed to reduce both the number of the iterations and the computing time involved in non-linear analysis of structures.     

Form-finding of a new kind of tensegrity tori using overlapping modules

In the past decades, the form-finding of tensegrity structures of regular geometric shapes, such as cylindrical tensegrities, polyhedral tensegrities, spherical tensegrities and so on, has been systematically studied. However, seldom studies on the form-finding of tensegrity tori have been reported. Considering the potential applications of the tensegrity tori in a number of fields, including architecture, sculpture, and other relevant fields, this paper carries out an exploration on a new kind of tensegrity tori. The topology of the new kind of tensegrity tori is based on the well-known cylindrical tensegrities and overlapping between every two adjacent tensegrity modules is allowed. Incorporating the singular value decomposition of equilibrium matrix with a force-finding algorithm, a general procedure for determining the feasible configurations for the new kind of tensegrity tori is proposed. Parametric analyses on several typical forms of the tensegrity tori are conducted and the feasible ranges of the design parameters and applicability of the feasible configurations are discussed.     

Algebraic tensegrity form-finding

This paper concerns the form-finding problem for general and symmetric tensegrity structures with shape constraints. A number of different geometries are treated and several fundamental properties of tensegrity structures are identified that simplify the form-finding problem. The concept of a tensegrity invariance (similarity) transformation is defined and it is shown that tensegrity equilibrium is preserved under affine node position transformations. This result provides the basis for a new tensegrity form-finding tool. The generality of the problem formulation makes it suitable for the automated generation of the equations and their derivatives. State-of-the-art numerical algorithms are applied to solve several example problems. Examples are given for tensegrity plates, shell-class symmetric tensegrity structures and structures generated by applying similarity transformation.     

基于非线性梁理论的有限质点法

有限质点法是以向量式力学为基础,用有限数量的质点来模拟结构的变形行为,质点的运动由牛顿运动定律来计算。在有限质点法中,质点通过构件相连,构件约束着质点的运动,并且其内力由质点的运动变量来描述。基于向量式力学的基本思想和非线性梁理论,提出了一种新的有限质点法,该方法在共旋单元坐标系中描述梁的非线性变形。以空间梁系结构为例,推导了计算构件内力的非线性公式,并考虑了弯扭耦合变形。通过两个连续欧拉角的变换公式得到共旋坐标系的旋转矩阵。与传统的有限质点法相比,本文提出的方法避免了刚体虚转动分析。通过四个结构的数值求解,验证了本文方法在计算结构大变形响应时具有较高的精度。     

Stability conditions for tensegrity structures

Stability conditions for tensegrity structures are derived based on positive definiteness of the tangent stiffness matrix, which is the sum of the linear and geometrical stiffness matrices. A necessary stability condition is presented by considering the affine motions that lie in the null-space of the geometrical stiffness matrix. The condition is demonstrated to be equivalent to that derived from the mathematical rigidity theory so as to resolve the discrepancy between the stability theories in the fields of engineering and mathematics. Furthermore, it is shown that the structure is guaranteed to be stable, if the structure satisfies the necessary stability condition and the geometrical stiffness matrix is positive semidefinite with the minimum rank deficiency for non-degeneracy.     

Validation of the tangent formulation for the solution of the non-linear Eshelby inclusion problem

An extension of the Eshelby problem for non-linear viscous materials is considered. An ellipsoidal heterogeneity is embedded in an infinite matrix. The material properties are assumed to be uniform within the ellipsoid and in the matrix. The problem of determining the average strain rate in the ellipsoid in terms of the overall applied strain rate is solved in an approximate way. The method is based on the non-incremental tangent formulation of the non-linear matrix behavior [Acta Metall. 35 (1987) 2983]. In the present work this approximate solution is verified with a good agreement by comparing to finite element calculations for various inclusion shapes and loading conditions.     

Analysis of clustered tensegrity structures using a modified dynamic relaxation algorithm

Tensegrities are spatial, reticulated and lightweight structures that are increasingly investigated as structural solutions for active and deployable structures. Tensegrity systems are composed only of axially loaded elements and this provides opportunities for actuation and deployment through changing element lengths. In cable-based actuation strategies, the deficiency of having to control too many cable elements can be overcome by connecting several cables. However, clustering active cables significantly changes the mechanics of classical tensegrity structures. Challenges emerge for structural analysis, control and actuation. In this paper, a modified dynamic relaxation (DR) algorithm is presented for static analysis and form-finding. The method is extended to accommodate clustered tensegrity structures. The applicability of the modified DR to this type of structure is demonstrated. Furthermore, the performance of the proposed method is compared with that of a transient stiffness method. Results obtained from two numerical examples show that the values predicted by the DR method are in a good agreement with those generated by the transient stiffness method. Finally it is shown that the DR method scales up to larger structures more efficiently.     

A computational framework for the form-finding and design of tensegrity structures

A new computational framework is proposed for the form-finding and design of tensegrity structures with or without super-stability. The form-finding of tensegrities is formulated as two unconstrained minimisation problems where their objective functions are defined based on eigenvalues of a modified force density matrix. The Nelder–Mead simplex method is then used to solve the minimisation problems. Furthermore, another efficient method is suggested for the interactive form-finding and design of tensegrities with geometrical and force constraints. Examples of the form-finding of tensegrities are presented and the results obtained are compared and contrasted with those analytical results documented in the literature, to verify the accuracy and efficiency of the developed methods.     

Form-finding of tensegrity structures via genetic algorithm

We propose an efficient method for the form-finding of tensegrity structures. The force densities of each tensegrity are obtained by the minimisation of a particular objective function, leading to a semi-positive definite force density matrix (a super-stable tensegrity) with a required rank deficiency. A genetic algorithm is used as a global search technique for the minimisation. The geometry of a tensegrity is subsequently formed based on those eigenvectors of the force density matrix corresponding to zero eigenvalues. Furthermore, two other methods are introduced to convert the asymmetrical geometry obtained from the main algorithm into its symmetrical counterparts. This transformation in geometry is performed by finding a suitable linear combination of the mentioned eigenvectors. Examples from well-known tensegrities including prismatic, truncated tetrahedron, expandable octahedron and truncated icosahedron tensegrities are studied using the present method, and the results obtained are compared with those documented in the literature to verify the efficiency of the present method.     

正装结构非线性应力应变累加规律研究

基于有限位移理论的正装结构非线性分析理论对解决超大跨度、柔性结构的非线性计算有重大意义.文中探讨了正装结构非线性的分析特点,研究了其应变场与应力场的Kirchhoff应力张量与Lagrange应变张量的适用性,提出了正装结构非线性分析中应力场与应交场的累加规律,导出了拖动坐标法的虚功增量方程,以此对杆系结构非线性分析常用的CR法和UL列式进行了精度比较分析.文中研究成果可为正装结构的非线性分析提供理论指导.     

On the analysis of simple shear problem using the micro-polar hypoelasticity Cosserat theory

In this paper, an analysis of kinematics of the isotropic elastic Cosserat continuum is presented in infinitesimal and finite deformations. Emphasis is given on the applicability of corotational stress rates for hypoelasticity in micro-polar continua. A non-linear finite element analysis is performed with an explicit formulation of tangent stiffness matrices in the case of Truesdell stress and couple stress rates. A comprehensive path-dependent procedure is employed based on the arc-length method to calculate the stability points and handle the snap-back problem. Finally, the accuracy and efficiency of method are illustrated by numerical examples.     

Mathematical and numerical modeling of the non-associated plasticity of soils—Part 2: Finite element analysis

The method of the implicit standard material has allowed the formulation of a consistent mathematical model of the boundary value problem for the non-associated plasticity of soil. The mean accomplished steps are the achievement of the bipotential function, the recovering of the stress–strain relationship under a normality rule, introduction of the bifunctional and the proof of the solution existence. Here the mathematical model is discretized by the finite element method. First, the stress update scheme was formulated, the tangent matrix is explicitly derived and then the non-linear system is solved by the Newton–Raphson method where a new algorithm using a symmetrical tangent matrix is improved. This is in opposition to conventional non-associated plasticity, which uses a non-symmetric tangent matrix. Through the numerical examples we show the feasibility and the efficiency of the algorithm. It is also seen that we perform some studies of the numerical solutions, particularly the comparison between associated and non-associated limit load.