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A new absolute nodal coordinate formulation beam element with multilayer circular cross section

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Acta Mechanica Sinica 2020年第1期36卷 82-96页

作者： Peng Lan Qinglong Tian Zuqing Yu School of Mechatronics Engineering Harbin Institute of TechnologyHarbin150001China

A systematic numerical integration method is applied to the absolute nodal coordinate formulation(ANCF)fully parameterized beam element with smooth varying and continuous cross ***,the formulation for the integration points and weight coefficients are given in the method which is used to model the multilayer beam with a circular cross *** negate the effect of the bending stiffness for the element used to model the high-voltage electrical wire,the general continuum mechanical approach is ***,the insulation cover for some particular types of the wire is described by the nearly incompressible Mooney-Rivlin material ***,a static problem is presented to prove the accuracy and convergence properties of the element,and a dynamic problem of a flexible pendulum is simulated whereby the balance of the energy can be *** experiment is carried out in which a wire is released as a pendulum and falls on a steel *** configurations of the wire are captured by a high-speed camera and compared with the simulation *** feasibility of the wire model can therefore be demonstrated.

关键词： Circular cross-section beam absolute nodal coordinate formulation Electrical wire modeling Contact

Coupled attitude-vibration analysis of an E-sail using absolute nodal coordinate formulation

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Astrodynamics 2020年第3期4卷 249-263页

作者： Ce Zhao Mingying Huo Ji Qi Shilei Cao Dongfang Zhu Lujun Sun Hongli Sun Naiming Qi School of Astronautics Harbin Institute of TechnologyHarbin 150001China Ming Hsieh Department of Electrical and Computer Engineering University of Southern CaliforniaLos AngelesCA 9007USA Shanghai Academy of Spaceflight Technology Shanghai 201109China

In this study,the effects of solar wind on an electric sail(E-sail)are modeled and analyzed using an absolute nodal coordinate formulation(ANCF).First,the thrust of the charged metal tether that makes up the E-sail was analyzed and a model was *** simulations of a single metal tether were ***,an overall E-sail model was established using the connection matrix,and E-sails subjected to different angular velocities were *** results of the ANCF model and a dumbbell model were compared at different angular *** results confirm that with a relatively high angular velocity,the flexible metal chain can be approximately regarded as a rigid ***,with a small angular velocity,the flexibility of the metal chain cannot be ignored.

关键词： E-sail absolute nodal coordinate formulation dynamic model

Dynamic Analysis and Optimal Parameter Design of FlexibleComposite Structures via absolute nodal coordinate formulation

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Journal of Shanghai Jiaotong university(Science) 2023年第5期28卷 621-629页

作者：杨丹余海东林张鹏 Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures Shanghai 200240China

The composite structure with the dielectric elastomer and soft materials is the main form of theactuators in soft robots. However, the theoretical model is hard to obtain due to the nonlinear large deformationof materials. In this paper, a new composite element model is established based on the absolute nodal coordinateformulation. The consistent deformation conditions at the contact interface between two thin plates are *** hyperelastic constitutive model and the dielectric elastomer constitutive model are introduced for the twothin plates. Then the dynamic model is established to study the dynamic behaviors of the composite flexiblestructure with various parameters. The results show that the nonlinear deformation appears obviously whenthe flexible composite plate structure is driven by various voltages, and the warping deformation becomes moreobvious with the increase of the voltage. The width and thickness of the driven thin plate influence the stabilityof the whole structure. With the decrease of the width or thickness, the deformation of the structure is moreconsistent with obvious periodicity, and the control performance is improved. Finally, the structural parametersof the composite structures are optimized to improve the control performance based on the dynamic ***, smaller width and thickness parameters are preferred to obtain better performance in the design offlexible actuator of soft robot.

关键词： flexible composite structure absolute nodal coordinate formulation dynamic behavior deformation compatibility optimal design

Nonlinear absolute nodal coordinate formulation of a Flexible Beam Considering Shear Effect

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Journal of Shanghai Jiaotong university(Science) 2005年第4期10卷 424-428页

作者： LIU Jin-yang（刘锦阳） SHEN Ling-jie（沈凌杰） HONG Jia-zhen（洪嘉振） Dept. of Eng. Mechanics Shanghai Jiaotong Univ. Shanghai 200030 China

Nonlinear modeling of a flexible beam with large deformation was investigated. absolute nodal cooridnate formulation is employed to describe the motion, and Lagrange equations of motion of a flexible beam are derived based on the geometric nonlinear theory. Different from the previous nonlinear formulation with Euler-Bernoulli assumption, the shear strain and transverse normal strain are taken into account. Computational example of a flexible pendulum with a tip mass is given to show the effects of the shear strain and transverse normal strain. The constant total energy verifies the correctness of the present formulation.

关键词： flexible beam absolute nodal coordinate formulation shear strain transverse normal strata

Research on the Viscoelasticity of Polyester Mooring Lines Using the absolute nodal coordinate formulation

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Journal of Marine Science and Application 2022年第2期21卷 16-23页

作者： Da Li Haibo Sui Zhuang Kang Liping Sun Engineering R&D Dept. CNOOC Research Institute Co.Ltd.Beijing 100028China College of Shipbuilding Engineering Harbin Engineering UniversityHarbin 150001China

The taut mooring system using synthetic fiber ropes has overcome the shortcomings such as the large self-weight of the mooring lines and provides better mooring performance for the floating *** polyester rope has attracted much attention among numerous synthetic fiber rope materials due to its lightweight,low price,corrosion resistance,and high ***,the mooring characteristics of it are worth *** mooring lines are flexible in deep water,when a marine structure is moored by them,the geometric nonlinearity such as large displacement,large stretch,and large bending deformation,and the material nonlinearity like viscoelastic of the polyester ropes become complex integrated problems to be *** the nonlinear phenomenon,the simulation and calculation of a polyester line were carried out by the absolute nodal coordinate formulation(ANCF)in this paper since the ANCF method has advantages in dealing with the significant deformation problems of the flexible *** addition,a chain mooring line was also simulated for comparison,and the results show that the polyester ropes reduce the self-weight of the mooring lines and provide sufficient mooring strength at the same time,and the nonlinear phenomenon of the polyester ropes is different from that of the chain mooring lines.

关键词： Taut mooring Polyester rope absolute nodal coordinate formulation Viscoelasticity Chain mooring line Geometric nonlinearity Material nonlinearity

Planar Weak Form Quadrature Beam Elements Based on absolute nodal coordinate formulation: A Structural Mechanics Approach

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Journal of Applied Mathematics and Physics 2022年第11期10卷 3475-3484页

作者： Huayi Li Hongzhi Zhong Department of Civil Engineering Tsinghua University Beijing China

A planar nonlinear weak form quadrature beam element of arbitrary number of axial nodes is proposed on the basis of the absolute nodal coordinate formulation (ANCF). Elastic forces of the element are established through geometrically exact beam theory, resulting in good consistency with classical beam theory. Two examples with strong geometrical nonlinearity are presented to verify the effec-tiveness of the formulation.

关键词： absolute nodal coordinate formulation Weak Form Quadrature Element Geometrically Nonlinear Analysis

Planar Weak Form Quadrature Beam Elements Based on absolute nodal coordinate formulation: A Structural Mechanics Approach

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Planar Weak Form Quadrature Beam Elements Based on Absolute ...

Deployment dynamics of a simplified spinning IKAROS solar sail via absolute coordinate based method

作者： Huayi Li Hongzhi Zhong Department of Civil Engineering Tsinghua University

A planar nonlinear weak form quadrature beam element of arbitrary number of axial nodes is proposed on the basis of the absolute nodal coordinate formulation(ANCF). Elastic forces of the element are established through geometrically exact beam theory, resulting in good consistency with classical beam theory. Two examples with strong geometrical nonlinearity are presented to verify the effectiveness of the formulation.

关键词： absolute nodal coordinate formulation Weak Form Quadrature Element Geometrically Nonlinear Analysis

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Acta Mechanica Sinica 2013年第1期29卷 132-142页

作者： Jing Zhao Hai-Yan Hu Qiang Tian State Key Lab of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and Astronautics School of Aerospace Engineering Beijing Institute of Technology

The spinning solar sail of large scale has been well developed in recent years. Such a solar sail can be considered as a rigid-flexible multibody system mainly composed of a spinning central rigid hub, a number of flexible thin tethers, sail membranes, and tip masses. A simplified interplanetary kite-craft accelerated by radiation of the Sun （IKAROS） model is established in this study by using the absolute-coordinate-based （ACB） method that combines the natural coordinate formulation （NCF） describing the central rigid hub and the absolute nodal coordinate formulation （ANCF） describing flexible parts. The initial configuration of the system in the second-stage deployment is determined through both dynamic and static analyses. The huge set of stiff equations of system dynamics is solved by using the generalized-alpha method, and thus the deployment dynamics of the system can be well understood.

关键词： Solar sail · Spinning deployment - Natural coordinate formulation absolute nodal coordinate formulation

Computational dynamics of soft machines

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Acta Mechanica Sinica 2017年第3期33卷 516-528页

作者： Haiyan Hu Qiang Tian Cheng Liu MOE Key Lab of Dynamics and Control of Flight Vehicles School of Aerospace Engineering Beijing Institute of Technology

Soft machine refers to a kind of mechanical system made of soft materials to complete sophisticated missions, such as handling a fragile object and crawling along a narrow tunnel corner, under low cost control and actuation. Hence, soft machines have raised great challenges to computational dynamics. In this review article, recent studies of the authors on the dynamic modeling, numerical simulation, and experimental validation of soft machines are summarized in the framework of multibody system dynamics. The dynamic modeling approaches are presented first for the geometric nonlinearities of coupled overall motions and large deformations of a soft component, the physical nonlinearities of a soft component made of hyperelastic or elastoplastic materials, and the frictional contacts/impacts of soft components, respectively. Then the computation approach is outlined for the dynamic simulation of soft machines governed by a set of differential-algebraic equations of very high dimensions, with an emphasis on the efficient computations of the nonlinear elastic force vector of finite elements. The validations of the proposed approaches are given via three case studies, including the locomotion of a soft quadrupedal robot, the spinning deployment of a solar sail of a spacecraft, and the deployment of a mesh reflector of a satellite antenna, as well as the corresponding experimental studies. Finally, some remarks are made for future studies.

关键词： Computational dynamics Multibody system dynamics absolute nodal coordinate formulation Contact and impact Soft machine Soft robot Deployable space structure