A finite element approach to the design and dynamic analysis of platform type robot manipulators

The design of a closed-loop platform-type robot manipulator using the finite element method is presented. The present approach aims at the optimization of the manipulator geometry and prediction ot the actuator parameters. Beam elements and triangular plate elements are used for the finite element model. Manipulators having six spherical-prismatic-spherical (6 SPS) pairs and of tetrahedron construction have been compared for their dynamic performance.     

Dynamic responses of the impact drive mechanism modeled by the distributed parameter system

The piezoelectric actuator has been used for precision positioning from micro-meter down to nano-meter scale. In this paper, the impact drive mechanism (IDM) is designed to achieve a high accuracy and ability in precision positioning motion, where the frictional force is described by the Leuven model combined with the Bounc–Wen model of the hysteresis. The frictional model allows accurate dynamic modeling both in the sliding and the presliding regimes without using switching functions. The governing equations with the hysteresis effects of the distributed parameter system are formulated to obtain the dynamic responses. By using the finite element formulation, numerical solutions due to effects of the piezoelectric element (PE) are provided to compare between the distributed and lumped parameter systems of the IDM. It is shown that the neglect in the mass of the PE will cause the precision errors in the scale of tens nano-meters.     

Influence of structural hypotheses on the elastic-viscoplastic response of shock wave-loaded plates

If circular metal plates are subjected repeatedly to impulsive loadings, damage and failure of the structures can occur. In order to predict the damage evolution in finite element simulations, a structural theory combined with viscoplastic constitutive equations acounting for damage is used. However, different structural hypotheses, used in the theoretical model, can lead to variations in the numerical result. Therefore, first- and third-order shear deformations theories are applied in a finite element code. Moreover, local and non-local damage approaches are used. The aim is to determine the numerical model, which leads to the most accurate results compared to experiments. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Multiscale damage analyis for steel structures

An approach to model the deterioration of steel structures is presented by transferring the results of a continuum damage mechanics analysis to an extended beam model which can account for the loss of structural integrity. Damage starts at the microscopic level by the initiation, growth and coalescence of voids with decreasing material resistance followed by the formation of microcracks at the mesoscale. Nevertheless, the material behavior can be sufficiently modelled on a phenomenological basis taking into account viscoplasticity, hardening effects and damage evolution. The associated model parameters are identified with the help of an evolutionary algorithm adapting numerical to experimental results. Using the finite element method a nonlocal formulation of the damage variable is required to obtain mesh-independent results by structural analysis. The maximum element size is limited by the small magnitude of the internal length. Therefore, numerical analyses of large scale 3D steel structures are computationally expensive. To reduce the effort a beam element is proposed to account for the plastic hinges and the loss of resistance in the course of damage evolution. The corresponding relationship of bending moment and curvature bases on the continuum damage mechanics model. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Finite element model updating for damage detection

In this contribution we derive the iterative finite element model updating algorithm. The ability of the method to detect the damage is verified by means of a simulation with a reference finite element model. (© 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Simulation of Wave Propagation in Complex Structures with the Spectral Element Method

In nondestructive testing, the use of ultrasonic elastic waves has proven as one of the most successful principles to detect structural damage like cracks, delaminations etc. Especially, Structural Health Monitoring (SHM) is characterized by permanently installed embedded or surface–mounted actuators and sensors (e.g. piezoelectric patches). The capability of most approaches strongly depends on adequate choice of parameters like excitation signals and actuator/sensor positions. For this reason there is a growing interest in efficient and accurate simulation tools to shorten time and cost of the necessary pretests. With respect to high frequency excitation a computationally efficient method is required. This contribution presents the theoretical background of the spectral element method including the electro–mechanical coupling of piezo elements. The spectral element method generates a diagonal mass matrix leading to significant savings of memory and to a crucial reduction of complexity of the time integration algorithm. Both in–plane and out–of–plane waves can be handled. Numerical examples for the propagation of waves in stiffened structures are presented. The effect of improper placement of actuators/sensors is shown. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Micromechanically motivated finite element model for ferroelectric ceramics

Ferroelectric ceramics exhibit significant coupled electromechanical phenomena that have been widely employed in sensor and actuator applications. In regular finite element models dealing with electromechanical plane problems, each grain needs to be subdiscretized by many triangular or quadrilateral elements for required accuracy. This problem can be overcome by a polygonal finite element approach where each grain is modelled by a single finite element without compromising on the results. In this paper, a polygonal finite element approach has been employed to understand the anisotropic response of the ferroelectric ceramics in their piezoelectric region. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Investigation of an elastoplastic material model coupled to nonlocal damage in an implicit-gradient framework

In this work, an elastoplastic material model coupled to nonlocal damage is discussed which is based on an implicit gradient-enhanced approach. Combined nonlinear isotropic and kinematic hardening as well as continuum damage of Lemaitre-type are considered. The model is a direct nonlocal extension of a corresponding local model which was presented earlier (see e. g. [1], [2], [3]). Conclusions drawn from a numerical benchmark test performed in this study demonstrate that the nonlocal damage model is suitable to provide mesh-independent solutions in finite element simulations. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Investigation of gradient-enhanced damage evolution in viscoplastic plates under propagating disturbance

This work investigates gradient-enhanced damage evolution by performing a parameter study for the authors's finite element shell model [1], in which the free energy function is enhanced phenomenologically in terms of a non-local damage variable and its gradient on the mid-surface of shell structures. This enhancement gives rise to an introduction of gradient parameters in terms of a substructure-related intrisic length-scale and a relationship between non-local and local damage variable. Based on the global displacement-force curves obtained from shock-tube tests on aluminium plate specimens, the gradient parameters are determined to validate the proposed shell model. The influence of spatial gradient of loading on the material behaviour within a macroscopic continuum element will be discussed through several examples. (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Multiphysics finite element model for the computation of the electro-mechanical dynamics of a hybrid reluctance actuator

ABSTRACT

In hybrid reluctance actuators, the achievable closed-loop system bandwidth is affected by the eddy currents and hysteresis in the ferromagnetic components and the mechanical resonance modes. Such effects must be accurately predicted to achieve high performance via feedback control. Therefore, a multiphysics electro-mechanical finite element model is proposed in this paper to compute the dynamics of a 2-DoF hybrid reluctance actuator. An electromagnetic simulation is adopted to compute the electromagnetic dynamics and the actuation torque, which is employed as input for a structural dynamic simulation computing the electro-mechanical frequency response function. For model validation, the simulated and measured frequency response plots are compared for two actuators with solid and laminated outer yoke, respectively. In both cases, the model accurately predicts the measurement results, with a maximum relative phase error of 1.7% between the first resonance frequency and 1 kHz and a relative error of 1.5% for the second resonance frequency..     

A nonlinear model for ferromagnetic shape memory alloy actuators

Ferromagnetic shape memory alloys (FSMAs) such as Ni–Mn–Ga have attracted significant attention over the last few years. As actuators, these materials offer high energy density, large stroke, and high bandwidth. These properties make FSMAs potential candidates for a new generation of actuators. The preliminary dynamic characterization of Ni–Mn–Ga illustrates evident nonlinear behaviors including hysteresis, saturation, first cycle effect, and dead zone. In this paper, in order to precisely control the position of FSMA actuators a mathematical model is developed. The Ni–Mn–Ga actuator model consists of the dynamic model of the actuator, the kinematics of the actuator, the constitutive model of the FSMA material, the reorientation kinetics of the FSMA material, and the electromagnetic model of the actuator. Furthermore, a constitutive model is proposed to take into account the elastic deformation as well as the reorientation. Simulation results are presented to demonstrate the dynamic behavior of the actuator.     

Empirical Modeling of a Hydraulic Actuator in a Vehicle Control System

The pressure information of a hydraulic actuator plays a key role in modern vehicle control and fault diagnosis. The difficulty in measuring pressure directly naturally motivates such an indirect approach as an observer whose accuracy depends heavily upon the availability of a high fidelity model of a hydraulic actuator. Notwithstanding its success in understanding the dynamics of the first principle model of a hydraulic actuator, it is not suited to controller/observer design due to its complexity. This paper presents an alternative to the first principle modeling methodology: an empirical approach to hydraulic actuator modeling. Linear and nonlinear system identification techniques are applied to obtain low-order models of a hydraulic actuator. Experimental results show how the empirical models reproduce the key features of a hydraulic actuator with sufficient accuracy.     

Damage and fracture behavior in dynamic tension tests: Modelling and numerical simulations

The continuum damage model is based on a general thermodynamic framework for the modeling of rate and temperature dependent behavior of anisotropically damaged elastic-plastic materials subjected to fast deformation. The introduction of damaged and fictitious undamaged configurations allows the definition of damage tensors and the corresponding free energy functions lead to material laws affected by damage and temperature. The damage condition and the corresponding damage rule strongly depend on stress triaxiality. Furthermore, the rate and temperature dependence is reflected in a multiplicative decomposition of the plastic hardening and damage softening functions. The macro crack behavior is characterized by a triaxiality dependent fracture criterion. The continuum damage model is implemented into LS-DYNA as user defined material model. Corresponding numerical simulations of unnotched and notched tension tests with high strain rates demonstrate the plastic and damage processes during the deformation leading to final fracture numerically predicted by an element erosion technique. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

A regularized damage-plasticity model: micromorphic formulation and numerical aspects

A gradient-extended damage-plasticity model is discussed which is based on a micromorphic approach according to Forest [1]. Damage and plasticity are treated as independent but strongly coupled dissipative phenomena by considering separate yield and damage loading functions to describe the onset of plastic flow and / or damage evolution. A numerical benchmark test conducted in the study reveals that the model is able to essentially cure the well-known mesh-dependence issue which is known from finite element simulations involving conventional (i. e. ‘local’) damage material models. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Numerical Model for Electro-Mechanical Analysis Based on Finite Element Method

In this paper, we present a numerical procedure that can be used to model the electro-mechanical coupled behavior of the dielectric actuator domain. The equation describing the electrostatical part is given by the reduced form of the Maxwell equation and the electrostatic potential [1]. The mechanical problem is described by the constitutive equations and equilibrium equations. Using the finite element method, this technique is to divide a whole problem into sub-problems. The complexity of the original problem is therefore reduced by focusing only on the most relevant areas. A finite element analysis is then performed by applying the electrostatic Maxwell pressure as Neumann boundary conditions to compute the displacements. Once the displacement is computed, the electrostatic domain or the conductor is updated. Electrostatic analysis is performed on the updated geometry and the finite element method is then used to determine the change in potential due to geometric perturbations. Once the surface charge densities are known, the new electrostatic Maxwell pressure is computed. The mechanical and electrostatic analysis is repeated until an equilibrium state is computed. The procedure is demonstrated in the paper by the solution of some two-dimensional and three-dimensional problems. (© 2013 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Characterisation and Modelling of Piezoceramic Actuator Hystereses

Piezoelectric ceramics are often used as actuators in smart structures technology. In the vast majority of papers dealing with this topic only linear constitutive relations are used. However, the electric field-strain relations of such actuators show hysteretic behaviour, which means that the piezoelectric coupling coefficient is not constant. In this study the hysteresis of a mechanically unconstrained actuator is obtained using the Michelson interferometry. The hysteretic behaviour is modelled by a Preisach model. Using these experimental data, for the modelling of an active structure with embedded piezoelectric actuators the actual coupling coefficient can then be determined with the help of the Preisach model. With this procedure the actuation strain of an embedded actuator, including the physical nonlinearities, can be calculated using the material characteristics obtained for an unconstrained actuator. For an experimental validation of the method outlined above, a Lead Zirconate Titanate (PZT) actuator is characterised experimentally and then glued to a cantilever beam. Then, the tip displacement of the actuated beam is determined experimentally and simulated numerically using the above method. The experimental and numerical results agree reasonably well if the shear lag due to the bonding layer between the actuator and the structure is taken into consideration. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Detection,isolation and identification of multiple actuator and sensor faults in nonlinear dynamic systems: Application to a waste water treatment process

The goal in many fault detection and isolation schemes is to increase the isolation and identification speed. This paper, presents a new approach of a nonlinear model based adaptive observer method, for detection, isolation and identification of actuator and sensor faults. Firstly, we will design a new method for the actuator fault problem where, after the fault detection and before the fault isolation, we will try to estimate the output of the instrument. The method is based on the formation of nonlinear observer banks where each bank isolates each actuator fault. Secondly, for the sensor problem we will reformulate the system by introducing a new state variable, so that an augmented system can be constructed to treat sensor faults as actuator faults. A method based on the design of an adaptive observers’ bank will be used for the fault treatment. These approaches use the system model and the outputs of the adaptive observers to generate residues. Residuals are defined in such way to isolate the faulty instrument after detecting the fault occurrence. The advantages of these methods are that we can treat not only single actuator and sensor faults but also multiple faults, more over the isolation time has been decreased. In this study, we consider that only abrupt faults in the system can occur. The validity of the methods will be tested firstly in simulation by using a nonlinear model of waste water treatment process with and without measurement noise and secondly with the same nonlinear model but by using this time real data.     

A gradient model for finite strain elastoplasticity coupled with damage

This paper describes the formulation of an implicit gradient damage model for finite strain elastoplasticity problems including strain softening. The strain softening behavior is modeled through a variant of Lemaitre's damage evolution law. The resulting constitutive equations are intimately coupled with the finite element formulation, in contrast with standard local material models. A 3D finite element including enhanced strains is used with this material model and coupling peculiarities are fully described. The proposed formulation results in an element which possesses spatial position variables, nonlocal damage variables and also enhanced strain variables. Emphasis is put on the exact consistent linearization of the arising discretized equations.

A numerical set of examples comparing the results of local and the gradient formulations relative to the mesh size influence is presented and some examples comparing results from other authors are also presented, illustrating the capabilities of the present proposal.     

Magnetostrictive actuation of a smart beam with hysteretic material behaviour

Magnetostrictive materials can be used as actuators in smart structures technology. The relation between induced strain and the applied magnetic field is nonlinear and shows hysteretic behaviour. Thus the magnetomechanical coupling coefficient is not constant and should be defined as a function of strain or magnetic field in computations. In this study the hysteresis of a mechanically unconstrained actuator is determined using the Michelson interferometry. The hysteretic behaviour is modelled phenomenologically by a Preisach model. Using these experimental data for the modelling of an active structure with embedded magnetostrictive actuators, the actual coupling coefficient can be determined utilising the Preisach model. With this procedure the actuation strain of an embedded actuator, including the physical nonlinearities, can be calculated using the material characteristics obtained with an unconstrained actuator. For the determination of the actual coupling coefficient a strain- and field-dependent approach is used. For an experimental validation of the method outlined above, a magnetostrictive actuator is characterised experimentally and then applied to a cantilever aluminium beam. Then, the tip displacement of the actuated beam is measured with a laser triangulation sensor and compared with the numerical results. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)