A Finite-Element Approach to Control Link Mechanisms: Its Concept and Basic Simulation


In this study, link mechanisms are modeled using finite elements based upon the Shifted Integration technique. A single link structure of a pin joint and a rigid bar is expressed by two linear Timoshenko beam elements with their numerical integration points shifted to opposite ends of the link joint. The finite-element approach in control schemes may provide flexibility against sudden change in a hardware system, since the remodeling can be achieved easily by rewriting input data. This paper describes an application of the modeling to normal pin joint-rigid bar link mechanisms. A numerical scheme for obtaining joint torque curves in n-link mechanisms based upon Cartesian coordinates is derived, and a numerical test on an 8-link mechanism by the Finite Element Method is carried out. The obtained joint torque curves as well as the CPU time are compared to those obtained by the conventional Newton-Euler method.

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