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)     

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)     

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)     

Analysis of a Compliant Mechanism for Positioning in the cm-Range

The kinematics and kinetics of a compliant mechanism are analyzed quasi-statically. The mechanism consists of a parallelkinematic (Biglide type) with the particular feature, that its revolute joints are implemented by flexure hinges. In the considered example the flexure hinges are uniform beams similar to leaf springs. The preliminary considerations with a rigid body system and by linear theory of elasticity result in an initial geometry. In order to predict the large displacement behavior more precisely the theory of Elastica is used. An optimization method is applied to solve the mechanism's state of deformation. It was found that some aspects can be approximated by a pseudo rigid body system, while others, namely the rotation, cannot be rendered. The decreased stiffness in the highly deformed operating state appears as key problem. (© 2011 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)     

An electromechanically coupled intrinsic,mixed variational formulation for geometrically nonlinear smart composite beam

The work presented in this article is the outcome of a combined strategy of a mathematical tool for 2D cross-sectional analysis, i.e., Variational Asymptotic Method (VAM) as well as the 1D exact beam analyzer, i.e., the intrinsic mixed variational formulation for modeling and analysis of Piezoelectric-laminated composite beams. This work talks about a novel approach of mixed variational formulation to analyze a two-way electromechanically coupled piezoelectric composite beam. In a classical intrinsic mixed variational approach for a passive structure, the 1D exact beam model deals only with mechanical degrees of freedom. In the present case, an extra 1D electrical degree of freedom has been incorporated. A computational code is developed based on the present theory to solve the two-way coupled electromechanical beam problem. In the present case, we have validated the static results for sensor application. Both linear and nonlinear results have been discussed. Results obtained are very promising and are helpful in building a platform where design, optimization and nonlinear analysis of composite ‘smart’ beams in a multibody framework can be done faster while maintaining acceptable accuracy.     

Overcomplete mechanisms of plastic collapse

The analysis of regular mechanisms of plastic collapse for plane frames may be done by simple statics. By contrast, the solutions of analogous problems for space frames require the use of deformation equations; the mere formation of a collapse mechanism does not make the collapsing portion of a frame soluble by statics alone. Further, the number of plastic hinges for regular collapse of a plane frame is determinable, but no rule can be constructed for the number of hinges in a space frame; indeed, space frames can collapse by mechanisms which appear to have more degrees of freedom than are necessary, and are in this sense over-complete.     

A Prediction Model for State Observation and Model Predictive Control of Biped Robots

Biped walking robots present a class of mechanical systems with many different challenges such as nonlinear multi-body dynamics, a large number of degrees of freedom and unilateral contacts. The latter impose constraints for physically feasible motions and in stabilization methods as the robot can only interact due to pressure forces with the environment. This limitation can cause the system to fall under unknown disturbances such as pushing or uneven terrain. In order to face such problems, an accurate and fast model of the robot to observe the current state and predict the state evolution into the future has to be used. This work presents a nonlinear prediction model with two passive degrees of freedom (dof), point masses and compliant unilateral contacts. We show that the model is applicable for real-time model predictive optimization of the robot's motion. Experiments on the biped robot LOLA [1] underline the effectiveness of the proposed model to increase the system's long term stability under large unknown disturbances. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

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.     

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.     

Toward Best Approximation of Nonlinear Systems: A Case of Models with Memory

The problem of nonlinear dynamical system modeling, considered in this paper, is motivated by restrictions arising in real-world tasks. The restrictions are that first, a system input cannot be entirely observed for one trial. Second, the system model must be subjected to the causality principle. Third, the input is corrupted by noise so that no relationship between the reference input and noise is known. Fourth, the model should have some degrees of freedom so that the associated accuracy can be regulated by a variation of these freedom degrees. We propose and justify new procedures for the nonlinear system modeling that are initialized by these motivations. The models are nonlinear and given by so called r-degree operators that can be reduced to a matrix form presentation. To satisfy the restrictions above, the matrices have special structures that we call the lower p-band matrices. The degree r of the models is the required degree of freedom. The rigorous analysis of errors associated with the presented techniques is given. Numerical experiments with real data demonstrate the efficiency of the proposed approach.     

Dynamic responses of Euler–Bernoulli beam subjected to moving vehicles using isogeometric approach

Dynamic analysis of beam structures subjected to moving vehicles using an isogeometric Euler–Bernoulli formulation is presented in this paper. The method utilizes B-Splines or Non-Uniform Rational–Splines (NURBS) as the basis functions for both geometric and analysis implementation. The rotation-free technique has been incorporated into the formulation by using only one deflection variable with excluding the rotational degrees of freedom adopted for each control point. Then, it enables to use a few degrees of freedom (Dofs) to achieve a highly accurate solution. The validations of the proposed method included a complicated moving vehicle and rough pavement effects are compared to the precisely analytical results. Compared with most existing methods of finite element method (FEM) and readily analytical solutions, the present technique indicated the effectiveness of present isogeometric method and its well accurate prediction for suitable simulating the interaction model of the bridge structures and complicated vehicles.     

Vibration control of micro-scale structures using their reduced second order bilinear models based on multi-moment matching criteria

This paper deals with vibration control of micro-scale structures; i.e. MEMS devices. For modeling of the structures, finite element method which is a distinguished and accurate technique will be used. This method, however, leads to a model with high number of degrees of freedom which may cause computational costs especially for control problems. Hence, we will apply the second order Krylov subspace method based on multi-moment matching to obtain a reduced order model which is in the form of a second order bilinear system. For vibration suppression of the corresponding micro-structure, a quadratic feedback controller and also a linear state feedback controller using linear matrix inequality (LMI) will be designed. Finally, a micro-cantilever beam will be considered as a practical case study and simulation results of applying the proposed method will be presented.     

Anisotropic mesh refinement for finite element methods based on error reduction

In this paper, we propose an anisotropic adaptive refinement algorithm based on the finite element methods for the numerical solution of partial differential equations. In 2-D, for a given triangular grid and finite element approximating space V, we obtain information on location and direction of refinement by estimating the reduction of the error if a single degree of freedom is added to V. For our model problem the algorithm fits highly stretched triangles along an interior layer, reducing the number of degrees of freedom that a standard h-type isotropic refinement algorithm would use.     

Nonlinear dynamic analysis of a complex dual rotor-bearing system based on a novel model reduction method

In this paper, a dynamic model of a complex dual rotor-bearing system of an aero-engine is established based on the finite element method with three types of beam elements (rigid disc, cylindrical beam element and conical beam element), as well as taking into account the nonlinearities of all of the supporting rolling element bearings. To rapidly and accurately analyze dynamic behaviors of the complex dual rotor-bearing system, a two-level model order reduction (MOR) method is proposed by combining component mode synthesis (CMS) method and proper orthogonal decomposition (POD) technique. The first-level reduced-order model (ROM) of the dual rotors is obtained by CMS method with a high precision for the original system. Then, the POD method is applied to second-level model order reduction to further decrease the degrees of freedom (DOFs) of first-level ROM. Second-level ROM with mode expansion and direct second-level ROM are obtained, and the nonlinear displacement responses of the two ROMs are compared with the first-level ROM. The numerical results demonstrate that the proposed method has a higher computational efficiency and accuracy in terms of mode expansion than the direct model reduction by using POD method. In addition, the nonlinear vibration responses of the dual rotor-bearing system are studied by this second-level ROM in the case of different clearances of the inter-shaft bearing. The results indicate that the dynamic characteristics of the dual rotor-bearing system are very complicated for a large clearance.     

Analytical elastostatic stiffness modeling of parallel manipulators considering the compliance of the link and joint

This paper discusses the analytical elastostatic stiffness modeling of parallel manipulators (PMs) considering the compliance of the link and joint. The proposed modeling is implemented in three steps: (1) the limb constraint wrenches are formulated based on screw theory; (2) the strain energy of the link and the joint is formulated using material mechanics and a mapping matrix, respectively, and the concentrated limb stiffness matrix corresponding to the constraint wrenches is obtained by summing the strain energy of the links and joints in the limb; and (3) the overall stiffness matrix is assembled based on the deformation compatibility equations. The strain energy factor index (SEFI) is adopted to describe the influence of the elastic components on the stiffness performance of the mechanism. Matrix structural analysis (MSA) using Timoshenko beam elements is applied to obtain analytical expressions for the compliance matrices of different joints through a three-step process: (1) formulate the element stiffness equation for each element; (2) extend the element stiffness equation to obtain the element contribution matrix, allowing the extended overall stiffness matrix to be obtained by summing the element contribution matrices; and (3) determine the stiffness matrices of joints by extracting the node stiffness matrix from the extended overall stiffness matrix and then releasing the degrees of freedom of twist. A comparison with MSA using Euler–Bernoulli beam elements demonstrates the superiority of using Timoshenko beam elements. The 2PRU-UPR PM is presented to illustrate the effectiveness of the proposed approach. Finally, the global SEFI and scatter matrix are used to identify the elastic component with the weakest stiffness performance, providing a new approach for effectively improving the stiffness performance of the mechanism.     

Nonlinear vibration of moderately thick laminated beams using finite element method

A finite element model is developed to study the large-amplitude free vibrations of generally-layered laminated composite beams. The Poisson effect, which is often neglected, is included in the laminated beam constitutive equation. The large deformation is accounted for by using von Karman strains and the transverse shear deformation is incorporated using a higher order theory. The beam element has eight degrees of freedom with the inplane displacement, transverse displacement, bending slope and bending rotation as the variables at each node. The direct iteration method is used to solve the nonlinear equations which are evaluated at the point of reversal of motion. The influence of boundary conditions, beam geometries, Poisson effect, and ply orientations on the nonlinear frequencies and mode shapes are demonstrated.     

The effect of discretization on the numerical simulation of the vibrations of the impacting cantilever beam

We study the dynamics of a cantilever beam with an unnegligible large mass and with a concentrated mass fixed at the end, which impacts on the base during motion. Generally to model such a system, the finite element method with appropriate number of degrees of freedom has to be employed. However, to analyse some selected aspects of its dynamic behaviour, particularly to predict if the motion with impacts will be periodic, lower-dimensional substitutive models with one degree or two degrees of freedom can be employed. The way to determine the parameters of such models and their applicability limits are discussed.     

Asynchronous variational Lie group integration for geometrically exact beam dynamics

For the elastodynamic simulation of a spatially discretized beam, asynchronous variational integrators (AVI) offer the possibility to use different time steps for every element [1]. They are symplectic and conserve discrete momentum maps and since the presented integrator for geometrically exact beam dynamics [2] is derived in the Lie group setting (SO(3) for the representation of rotational degrees of freedom), it intrinsically preserves the group structure without the need for constraints [3]. A decrease of computational cost is to be expected in situations, where the time steps have to be very low in certain parts of the beam but not everywhere, e.g. if some regions of the beam are moving faster than others. The implementation allows synchronous as well as asynchronous time stepping and shows very good energy behaviour, i.e. there is no drift of the total energy for conservative systems. (© 2013 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)