A procedure based on finite elements for the solution of nonlinear problems in the kinematic analysis of mechanisms

CAD-based approach for identification of elasto-static parameters of robotic manipulators

“…For robotic application it is very attractive, since the links/joints are modeled with its true dimension and shape [13][14][15]. However, while increasing of the number of finite elements, the problem of limited computer memory and the difficulty of the high-dimension matrix inversion become more and more critical.…”

Kinematical synthesis of 1-dof mechanisms using finite elements and genetic algorithms

“…(4) is minimized iteratively, eventually leading to {x} f . The minimization of this potential is shown in detail in [14]. If the minimized potential is zero, then the solution achieved is a possible initial position for the mechanism.…”

“…One of the first approaches for solutions of this kind was provided by Aviles [13], where the capabilities of using finite-element meshes for solving kinematical linear problems in mechanisms (those of velocity and acceleration) were demonstrated, including the application of the same methodology to non-linear (position) problems [19,14].…”

A new method to approximate the field of movements of 1-DOF linkages with lower-pairs

“…Some methods are based on finite elements [3,4] and they show the advantage of a simple representation of the linkage by means of a geometric matrix. This matrix is derived from the stiffness matrix of the linkage if it were modelized as a truss and it condenses all the geometric information about the linkage.…”

“…The geometric approach, which is the most used, is based on considering every element of the linkage as an independent solid, obtaining its position in the space from the solution of the equations which are imposed by the geometric constraints [9]. The energy-approach is based on the finite elements and it applies finite elements techniques to solve the kinematic problems [3,4]. This approach is not discussed in this paper.…”