Abstract
In this lecture, unique techniques applied to linear Timoshenko and Bernoulli-Euler beam elements, and their applications in various engineering fields are presented.
First, a brief outline of the Adaptively Shifted Integration (ASI)-Gauss code incorporated with linear Timoshenko beam elements and their applications are introduced. This code provides higher computational efficiency than the conventional code by the shifting numerical integration points of beam elements to appropriate positions according to the elasto-plastic properties. It can be applied to those problems with strong nonlinearities including phenomena such as member fracture and elemental contact. Several examples such as aircraft impact analysis of the WTC tower, seismic pounding analysis of the Nuevo Leon buildings, collapse analysis of a building subjected under tsunami wave and debris collision, and motion behaviour analyses of indoor non-structural components such as ceilings and furniture are presented.
Next, the parallel solution scheme of inverse dynamics using Bernoulli-Euler beam elements and its application to a torque cancelling system (TCS) are introduced. The TCS calculates reaction moments generated by motors in robots by considering the dynamics of the numerically modelled system. The developed scheme can handle different types of configurations and can also consider elasticity of constituted links or passive joints by only changing the input numerical model. Once the reaction moment is known, it can be cancelled by applying an anti-torque to a torque generating device. Some applications of the system are presented in this lecture.