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rigid finite element AND ITS APPLICATIONS IN ENGINEERING

Acta Mechanica Sinica 1995年第1期11卷 44-50页

作者：钱令希张雄 Dalian University of Technology Dalian 116023China Department of Engineering Mechanics Tsinghua UniversityBeijing 100084China

rigid finite element Method (RFEM) was proposed to simulate the mechanical behavior of discontinuous structures such as rock and soil structures. The authors' work on the theory and applications of RFEM is summarized in this paper. Based on the theory of RFEM, the Elastic Body-Seams Model (EBSM) is proposed to take the deformation and damage of rock masses into account.

关键词： ROCK AND SOIL ENGINEERING rigid finite element SLOPE STABILITY LIMIT ANALYSIS

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Behavior Analysis of Biomimetic Soft Bending Actuators in Free Motion and Contact

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Journal of Bionic Engineering 2023年第3期20卷 967-981页

作者： Mohammad Hadi Namdar Ghalati Sepideh Akbari Hamed Ghafarirad Mohammad Zareinejad Department of Mechanical Engineering Amirkabir University of TechnologyTehran***Iran New Technologies Research Center(NTRC) Amirkabir University of TechnologyTehran***Iran

Bioinspired Soft Bending Actuators (SBA) are increasingly being used in rehabilitation, assistant robots, and grippers. Despite many investigations on free motion modeling, understanding how these actuators interact with the environment requires more detailed research. It is caused by high compliance and nonlinearity of bioinspired soft material, which leads to serious challenges in contact conditions. In this paper, a continuous deformation analysis is presented to describe the free motion nonlinear behavior of the actuator. Based on the achieved result, this study proposes static modeling of SBA affected by a concentrated external force. For this purpose, the finite rigid element method is utilized, which is based on discretizing the actuator into smaller parts and assuming these parts as rigid serial links connected by nonlinear torsional springs. To verify the proposed model, two kinds of forces are considered to be acting on the actuator, i.e. following force and constant direction force. In addition, the effect of gravity on the actuator configuration is also investigated. The validity of the model has been demonstrated through experiments in free motion, contact conditions and the presence of gravity. It generally shows that the prediction error of robot configuration is lower than 7.5%.

关键词： Biomimetic soft bending actuator Static modeling Contact Force constraints rigid finite element

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