Flexure Hinge Mechanisms Modeled by Nonlinear Euler-Bernoulli-Beams

A flexure hinge is an innovative engineering solution for providing relative motion between two adjacent stiff members by the elastic deformation of an arbitrary shaped flexible connector. In the literature, modeling of compliant mechanisms incorporating flexure hinges is mainly focused on linear methods. However, geometrically nonlinear effects cannot be ignored generally. This study presents a nonlinear modeling technique for flexure hinges based on the Euler-Bernoulli beam theory, in contrast to the predominant linear modeling approaches. Higher order beam elements of variable cross-section are employed to model the flexure hinge region. A Newton-Raphson scheme is applied to solve the resulting nonlinear system equations. The proposed approach reduces the overall degrees of freedom and is computationally efficient compared to commonly applied 3D finite element methods. A compliant displacement amplification mechanism is studied by means of the proposed method, where an excellent agreement with results of a reference solution is achieved. The modeling approach is suitable for the structural optimization of compliant mechanisms towards a less intuitive design process. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Kinematic modeling of flexure hinges and compliant mechanisms

In this paper, the kinematic performance of flexure hinges and compliant mechanisms calculated by conventional modeling techniques are compared. As these exhibit certain drawbacks with regard to control strategies, mainly large number of degrees of freedom or unacceptable errors, a novel modeling approach for flexure hinges is presented. Instead of the entire flexure hinge only its significant regions are modeled by 3-D structural solids. These master patterns are positioned appropriately and connected by rigid constraint conditions to build a compliant mechanism. The resulting model is characterized by considerably fewer degrees of freedom than a full solid model as well as a marginal deviation of the deflection compared to that of pseudo-rigid-body models, 3-D tapered finite beam elements and analytical Timoshenko beam theory. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Model order reduction methods and their possible application in compliant mechanisms

Model order reduction (MOR) is commonly used to approximate large-scale linear time-invariant dynamical systems. A new feed unit based on a compliant mechanism consisting of flexure hinges can be described by a discrete system of n ordinary differential equations. A projection framework using modal and Krylov subspace techniques is applied to reduce the order of the system to lower computational cost and make the model feasible for control, analysis and optimization. Single flexure hinges are investigated numerical, analytical and experimental and compared to reduced models via modal and tangential Krylov subspace methods regarding the first eigenfrequency. (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

An improved modeling approach for circular flexure hinges with application to geometry optimization

Within this paper, a modeling approach for flexure hinges based on the Euler-Bernoulli beam theory for beams of variable cross section is investigated in a static analysis. The proposed approach is implemented in a finite beam element routine, for which two different discretizations are discussed. The results are compared to a full scale three dimensional model. It is shown that a circular flexure hinge cannot be modeled accurately with one element. An improved model with three elements across the flexure hinge length is presented which shows excellent accordance with the reference model. A geometry optimization is realized based on the improved, low-DOF model. (© 2013 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Failure analysis of highly predeformed beams used as flexure hinges

The trend to extend the working ranges of flexure hinges implies large deformations during operation. To conduct a failure analysis the total deformation is decomposed into desired deformation and deviations. In particular, a flexure hinge of leaf-spring type is examined. It is modeled by the theory of elastica. The resulting boundary value problem is solved numerically for the static case by Ritz's method. It is discretized into trial functions and their free coefficients are determined from the minimum of potential energy by optimization methods. The crucial point is that the elastic energy stored in the beam is formulated intrinsically, while the potential of external conservative loads is formulated in a space-fixed coordinate system. The well-known special case of buckling of a straight cantilever beam is used for verification. (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

On equations of the state of stress in a plate of variable thickness

Method of asymptotic integration of three-dimensional equations of the theory of elasticity is used to construct the internal state of stress in a plate of variable thickness /1/. It is shown that it can generally be described by a system of differential equations of eighth order in the components of the displacement vector of the points of a plane projected inside the plate, with the equations of flexure and of plane state of stress not separated. In a particular case when the face surfaces are symmetrical with respect to this plane, the flexure and the plane state of stress are described by separate equations. The accuracy of the equations obtained is of the order of square of relative thickness of the plate away from the edge and other distortion lines of the stress state.

The boundary layer is not considered and conditions at the plate edge are not formulated.     

Stabilization of the non-trivial relative equilibria of a gyrostat with an elastic element in a circular orbit

The motion of a gyrostat, regarded as a rigid body, in a circular Kepler orbit in a central Newtonian force field is investigated in a limited formulation. A uniformly rotating statically and dynamically balanced flywheel is situated in the rigid body. A uniform elastic element, which, during the motion of the system, is subjected to small deformations, is rigidly connected to the rigid body-gyrostat body. The problem is discretized without truncating the corresponding infinite series, based on a modal analysis or using a certain specified system of functions, for example, of the assumed forms of the oscillations, which depend on the spatial coordinates and which satisfy appropriate boundary-value problems of the linear theory of elasticity. The elastic element is specified in more detail (a rod, plate, etc.), as well as its mass and stiffness characteristics and the form of the fastening, and the choice of the system of functions is determined. Non-trivial relative equilibria of the system (the state of rest with respect to an orbital system of coordinates when the elastic element is deformed) is sought approximately on the basis of a converging iteration method, described previously. It is shown, using Routh's theorem, that by an appropriate choice of the gyrostatic moment and when certain conditions, imposed on the system parameters are satisfied, one can stabilize these equilibria (ensure that they are stable).     

基于多刚体动力学模型的漂浮式拦污排的平衡形状和张力

漂浮式拦污排为多个浮箱通过铰接组成的多体系统．将浮箱模型简化为刚性杆件,基于多体动力学理论,建立了漂浮式拦污排的运动控制方程,并给出了相应的数值求解方案．模型试验表明了数值模型及求解方案的有效性．数值算例结果表明,传统的悬链线假设得到的结果误差较大．此外还讨论了平衡状态下拦污排发生“自锁”状态的判断方法及水面下降时的张力演化过程．     

Multilayer beams: A geometrically exact formulation

Summary We review and extend our recent work on a new theory of multilayer structures, with particular emphasis on sandwich beams/1-D plates. Both the formulation of the equations of motion in the general dynamic case and the computational formulation of the resulting nonlinear equations of equilibrium in the static case based on a Galerkin projection are presented. Finite rotations of the layer cross sections are allowed, with shear deformation accounted for in each layer. There is no restriction on the layer thickness; the number of layers can vary between one and three. The deformed profile of a beam cross section is continuous, piecewise linear, with a motion in 2-D space identical to that of a planar multibody system that consists of three rigid links connected by hinges. With the dynamics of this multi (rigid/flexible) body being referred directly to an inertial frame, the equations of motion are derived via the balance of (1) the rate of kinetic energy and the power of resultant contact (internal) forces/couples, and (2) the power of assigned (external) forces/couples. The present formulation offers a general method for analyzing the dynamic response of flexible multilayer structures undergoing large deformation and large overall motion. With the layersnot required to have equal length, the formulation permits the analysis of an important class of multilayer structures with ply drop-off. For sandwich structures, an approximated theory with infinitesimal relative outer-layer rotations superimposed onto finite core-layer rotation is deduced from the general nonlinear equations in a consistent manner. The classical linear theory of sandwich beams/1-D plates is recovered upon a consistent linearization. Using finite element basis functions in the Galerkin projection, we provide extensive numerical examples to verify the theoretical formulation and to illustrate its versatility. Dedicated to the memory of Professor Juan Carlos Simo, whose early demise is a great loss for the applied and computational mechanics community This paper was solicited by the editors to be part of a volume dedicated to the memory of Juan Simo.     

Oscillations of a rigid body containing an elastic element with distributed parameters

The motions of a hybrid (discrete-continual) system, consisting of a carrier rigid body and an elastic element with distributed parameters fastened to it are investigated. Two types of fastening are considered: (1) both ends are clamped, and (2) one of the ends is clamped while the other is free. A closed system of integro-differential equations is obtained which describes the state of the system under arbitrary initial conditions and forces applied to the rigid body. The perturbed motion of the rigid body in the case of a quasi-linear restoring force is investigated using asymptotic methods. The motions are studied both when there is internal resonance between the oscillations of the rigid body and the natural oscillations of the element, and when there are no such resonances. Qualitative effects are found.     

Modelo numérico del comportamiento histerético de uniones entre forjados reticulares y pilares de fachada

Waffle-flat-plate structures have been widely used for residential and office buildings in the South of Europe between the seventies and nineties of the last century. These buildings were designed with old seismic codes and its vulnerability needs to be evaluated to determine whether they need to be seismic retrofitted or not. This article proposes a simple model that represents the moment transfer between plate and column, for existing exterior connections loaded in the direction normal to the building façade. The model takes into account singularities of existing waffle-flat-plate structures such as the concentration of reinforcement in the direction of the joints, and the existence of punching shear reinforcement. The model consists of frame elements for the columns and shell elements for the slabs, both connected with flexural and torsion hinges. The strength of the flexural hinges is obtained by estimating the portion of longitudinal reinforcement of the plate that transfers directly the unbalanced moment to the column by flexure. The yielding deformations of the flexural and torsion hinges are estimated with simple expressions. The ductility of the flexural hinges is taken from FEMA 356, while infinite ductility is adopted for the torsional hinges in accordance with previous experimental studies. It is shown that the proposed model provides a good approximation of the experimental response of the connection under monotonically increasing lateral displacements, in terms of stiffness, strength and ductility.     

A theory of dislocations and disclinations in elastic plates

The problem of the stress state of a thin elastic plate, containing dislocations and disclinations, is considered using Kirchhoff's theory. The problem of the equilibrium of a multiply connected plate with Volterra dislocations with specified characteristics is formulated. The problem of the flexure of an annular slab resulting from a screw dislocation and a twisting disclination is solved. The solutions of problems of concentrated (isolated) dislocations and disclinations in an unbounded plate as well as the dipoles of dislocations and disinclinations are found. It is shown that a screw dislocation in a thin plate is equivalent to the superposition of two orthogonal dipoles of torsional disclinations. By taking the limit from a discrete set of defects to their continuous distribution, a theory of thin plates with distributed dislocations and disclinations is constructed. Solutions of problems of the flexure of circular and elliptic plates with continuously distributed disclinations are obtained. An analogy is established between the problem of the flexure of a plate with defects and the plane problem of the theory of elasticity with mass forces, and also between a plane problem with dislocations and disclinations and the problem of the flexure of a plate with specified distributed loads.     

地下结构与岩体动力相互作用的一种解析解

本文根据大量试验和数值分析结果指出:在侧向爆荷下岩洞在厚度为跨度三分之一围岩中具有厚壁受弯构件的力学特征,而在该围岩区外即基本上接近自由场应力状态,并可用厚板理论方程在自由场压力的外载下进行求解.因此,地下结构与围岩动力相互作用,可用分别代表衬砌及介质的基于薄板与厚板理论的受弯构件动力方程宋描述.围岩和衬砌二者之间的相互作用力用接触压力函数q(x,t)加以联系.通过解一组联立方程,给出了计入与弹性半空间相互作用效应的直墙拱顶衬砌时动力分析的解析解,同时列出了函数q(x,t)的解析表达式. 本解析解将有助于从理论上探讨地下结构与介质动力共同作用的一些本质问题.     

The dynamics of nonholonomic systems consisting of a spherical shell with a moving rigid body inside

In this paper we investigate two systems consisting of a spherical shell rolling without slipping on a plane and a moving rigid body fixed inside the shell by means of two different mechanisms. In the former case the rigid body is attached to the center of the ball on a spherical hinge. We show an isomorphism between the equations of motion for the inner body with those for the ball moving on a smooth plane. In the latter case the rigid body is fixed by means of a nonholonomic hinge. Equations of motion for this system have been obtained and new integrable cases found. A special feature of the set of tensor invariants of this system is that it leads to the Euler — Jacobi — Lie theorem, which is a new integration mechanism in nonholonomic mechanics. We also consider the problem of free motion of a bundle of two bodies connected by means of a nonholonomic hinge. For this system, integrable cases and various tensor invariants are found.     

Linking (n − 2)-dimensional panels inn-space II: (n − 2, 2)-frameworks and body and hinge structures

An (n – 1, 2)-framework inn-space is a structure consisting of a finite set of (n – 2)-dimensional panels and a set of rigid bars each joining a pair of panels using ball joints. A body and hinge (or (n + 1,n – 1)-) framework inn-space consists of a finite set ofn-dimensional bodies articulated by a set of (n – 2)-dimensional hinges, i.e., joints in 2-space, line hinges in 3-space, plane-hinges in 4-space, etc. In this paper we characterize the graphs of all rigid (n – 1, 2)- and (n + 1,n – 1)-frameworks inn-space. Rigidity here is statical rigidity or equivalently infinitesimal rigidity.     

Optimality Conditions for Mechanical Impacts

In this report the necessary conditions for optimal non‐smooth control of rigid body mechanical systems with multiple impacts will be stated in accordance with Pontryagin's Minimum Principle. Criteria based on the Weierstrass‐Erdmann (WE) conditions and contemporary impact theory will be established in order to assess the optimality of an impact.The determination of post‐impact state and costate values from the pre‐impact values will be possible in some cases. (© 2004 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)     

Modeling via the internal energy balance and analysis of adhesive contact with friction in thermoviscoelasticity

In this paper we introduce and investigate a model for adhesive contact with friction between a thermoviscoelastic body and a rigid support.A PDE system, consisting of the evolution equations for the temperatures in the bulk domain and on the contact surface, of the momentum balance, and of the equation for the internal variable describing the state of the adhesion, is derived on the basis of a surface damage theory by M. Frémond.The existence of global-in-time solutions to the associated initial–boundary value problem is proved by passing to the limit in a carefully tailored time-discretization scheme.     

多体机械手的一般动力学模型

本文建立了多体机械手的一般动力学方程.设多体系统是由任意数目的刚体组成的树形拓扑结构,并认为铰是柱铰链,允许具有相对转动和滑动.考虑到实际问题中摩擦力的影响,采用Newton-Euler方法,建立了运动方程.进一步通过构造分配矩阵,将动力学方程分离,得到了一组实用的力方程和运动方程.     

Flexure of viscoelastic plate with holes reinforced by rigid rings

The problem of the flexure of an Isotropic viscoelastic plate with three unequal circular holes reinforced by rigid rings is solved. The influence of the viscoelastic properties of the material on the stress state of the plate as a function of the distance between the holes and their radii is investigated.Translated from Teoreticheskaya i Prikladnaya Mekhanika, No. 18, pp. 56–58, 1987.     

Approximate equations of rotational motion of a rigid body carrying a movable point mass

The dynamics of a compound system, consisting of a rigid body and a point mass, which moves in a specified way along a curve, rigidly attached to the body is investigated. The system performs free motion in a uniform gravity field. Differential equations are derived which describe the rotation of the body about its centre of mass. In two special cases, which allow of the introduction of a small parameter, an approximate system of equations of motion is obtained using asymptotic methods. The accuracy with which the solutions of the approximate system approach the solutions of the exact equations of motion is indicated. In one case, it is assumed that the point mass has a mass that is small compared with the mass of the body, and performs rapid motion with respect to the rigid body. It is shown that in this case the approximate system is integrable. A number of special motions of the body, described by the approximate system, are indicated, and their stability is investigated. In the second case, no limitations are imposed on the mass of the point mass, but it is assumed that the relative motion of the point is rapid and occurs near a specified point of the body. It is shown that, in the approximate system, the motion of the rigid body about its centre of mass is Euler–Poinsot motion.