Авторы:
Издательство:
Дата издания
12.03.2026На каком языке издана
Область исследования
Тип исследования
Аннотация (краткое описание)
Strength and stiffness assessment of rod mechanisms and robotic manipulators is commonly performed using finite element methods (FEM), while motion-induced inertia is often represented by resultant forces and moments applied at link centers of mass. This simplification is inherently approximate because inertial and gravitational forces are distributed along the link and depend on instantaneous kinematics. The main contribution of this paper is a systematic FEM-ready algorithm that extends a previously planar distributed-inertia concept to a formulation applicable to both planar and spatial rod models. The proposed approach computes distributed inertial and weight load intensities in the local coordinate system of each moving rod from kinematic quantities (link orientation, angular velocity/acceleration, and pole accelerations), transforms them into consistent equivalent nodal forces and moments, and assembles them into the global FEM equilibrium system for strength and stiffness calculations. Unlike flexible multibody dynamics formulations (e.g., floating frame of reference formulation (FFRF)/ANCF) absolute nodal coordinate formulation, which primarily target time-domain dynamic simulation, the proposed method is design-oriented and directly produces configuration-dependent engineering outputs-bending moments, axial forces, and longitudinal/transverse displacements-required for link cross-section sizing and stress assessment. The method is demonstrated on a six-bar planar mechanism to illustrate the influence of distributed inertia on internal force and deformation diagrams at low and high driving speeds.DOI
https://dx.doi.org/10.30919/es2134Тип публикаций
Квартиль
Источник квартиля
JCR (WoS)Данный документ располагается в коллекциях
Международные публикации ученых SU
Scopus