New analytical formalisms used in finite element analysis of robots with elastic elements

摘要

Obtaining the equations of motion for an element in finite element analysis (FEA) model in the analysis of a multi-body system (MBS) having component elastic elements represents an important (maybe the main) step to build a soft able to solve such a problem numerically. In use FEA in the study of a MBS with elastic elements, the method of Lagrange's equations is especially used at present. This method presents the advantages of a homogeneous writing and the possibility to follow the operations easier. However, there are also equivalent formulations, developed by analytical mechanics, for approaching such a mechanical system. The earning of these alternative forms will be presented, by comparison.