Finite element methods for the design of mechanisms and robotic manipulators

Abstract

The finite element method is utilised for the analysis and design of mechanisms, including robotic manipulators. Both planar and spatial mechanisms are investigated. Three types of analysis are examined: static analysis, modal analysis, and nonlinear transient dynamic analysis. Mechanism members are modelled using a variety of element types. Pin joints are represented using either revolute–joint elements or joint release features through the inclusion of appropriate constraint equations. Both prescribed mechanism input motions and prescribed input forces are considered. Several examples are presented.