Chapter07.pdf

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Chapter 7 Line Models
1
Chapter 7
Line Models
7.1
Step-by-Step: Flexible Gripper
7.2
Step-by-Step: 3D Truss
7.3
More Exercise: Two-Story Building
7.4
Review
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Chapter 7 Line Models
Section 7.1 Flexible Gripper
2
Section 7.1
Flexible Gripper
[4] Gripping
direction
(output).
Problem Description
[1] The gripper is
made of POM.
P 4( − 35,160)
P 3( − 69,120)
[2] The ends are
connected to a rigid
ground (preventing
translations and
rotations).
P 5( − 34,100)
P 6( − 24, 60)
P 7(0, 50)
P 2( − 90, 40)
Y
[3] Actuation
direction (input).
P 1( − 70, 0)
X
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Chapter 7 Line Models
Section 7.1 Flexible Gripper
3
Te c h n i q u e s / C o n c e p t s
•
Line bodies
•
Cross Sections
•
Cross Section Alignments
•
l t )
Cross Section Solids
60
•
Beam Elements
50
•
Symmetry Conditions
40
•
30
Geometric Advantage
20
10
0
0
5
10 15 20 25 30 35 40 45 50
Input Displacement (mm)
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Chapter 7 Line Models
Section 7.1 Flexible Gripper
4
Convergence Study of Beam Elements
[2] The displacement
converges to 52.381 mm.
52.40
t t )
52.38
52.36
[1] In this exercise, we
meshed with 34
elements, resulting 52.335
mm of displacement.
52.34
52.32
0
125
250
375
500
625
Number of Elements
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Chapter 7 Line Models
Section 7.2 3D Truss
5
Section 7.2
3D Truss
75 "
P 1
P 2
1
4
3
Problem Description
"
5
2
6
7
8
9
P 6
Design Loads for the Transmission Tower
P 5
75 "
10
13
11
P 3
12
Joint
F X (lb)
F Y (lb)
F Z (lb)
P 4
"
25
22
16
20
14
P 1
1,000
-10,000
-10,000
23
15
21
24
17
P 2
0
-10,000
-10,000
Z
18
19
P 10
P 9
P 3
500
0
0
X
P 7
200 "
Y
P 8
200 "
P 6
600
0
0
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