fem modelling of a bellows and a bellows- based micromanipulator

More documents

Recommendations

Info

FEM modelling of a bellows and a bellows-based micromanipulatorV. Completion5.2 References[Call88] Calladine C. R., Theory of shell structures, Cambridge University Press,Cambridge, First paperback edition, 1988, pp 456-461.[Tim56] Timoshenko Stephen, Strength of Materials, D. Van Nostrand Company Canada,Toronto, Third Edition, March 1956, pp 117-133, 145-153.[Har63] Harvey John F., Pressure Vessel Design: Nuclear and Chemical Applications,, D.Van Nostrand Company New Jersey, New-York, 1963, pp 28-41, 123-126.[Cook89] Cook Robert D., Malkus David S. and Plesha Michael E., Concepts andapplications of Finite Element Analysis, John Wiley & Sons, New York, ThirdEdition, 1989, page 574.[Cook95] Cook Robert D., Finite Element Modelling for Stress Analysis, John Wiley &Sons, New York, 1995.[Kall96] Kallio P., Lind M., Kojola H., Zhou Q., Koivo H., An Actuation System forParallel Link Micromanipulators, Proceedings of the Intelligent Robots andSystems, IROS'96 Japan, Osaka, November 1996, pp 856-862.[Kall97] Kallio P., Lind M., Zhou Q., Koivo H., A Parallel Piezohydraulic Micromanipulator– Mechanics Aspects, CCAM, Germany, Illmenau, 1997, pp 195-200.[Kall98] Kallio P., Lind M., Zhou Q., Koivo H., A 3 DOF Piezohydraulic ParallelMicromanipulator, International Conference on Robotics and Automation,Leuven, Belgium, May 1998.[Lind98] Lind Mikael, Modelling a bellows with a beam-like component in ADAMS,Eurosim'98 Simulation Congress, Proceedings Volume 3, pp 513-519.[Cran57] Crandall S. H. and Dahl N. C., The influence of pressure on the bending of curvedtubes, Proceedings of the 9 th International Congress of Applied Mechanics,University of Brussels, Vol. 6, 1957, pp 101-111.[Lau62] A. Laupa, N. A. Weil, Analysis of U-shaped expansion joints, Journal of AppliedMechanics, March 1962, pp 573-574.45
VI. AnnexFEM modelling of a bellows and a bellows-based micromanipulator6. ANNEX6.1 Principal Listings6.1.1 GEOMETRYa) PLANE83 2D-model!***************** PLANE83 Model **********************!* *!***************** December 1998 **********************FINISH! Exits the previous processor/CLEAR! Clears the database/PREP7! Enters the PREP7 pre-processorET,1,PLANE83! Defines a new element type, PLANE83KEYOPT,1,3,1! Sets different flags for axisymmetric behaviour!***** Material properties *****MP,ex,1,161e+6 ! Young's Modulus E = 161·10 6 [mN/mm 2 ]MP,nuxy,1,0.3 ! Poisson's Ratio σ = 0,3!****** Scalar parameters ******A=6.35! Outer diameter AB=3.81! Inner diameter BD=0.7832! Convolution pitch Dl0=18.7960 ! Bellows' length L 0t=0.0381! Wall's thickness tr1=(D-2*t)/4 ! Inner convolution's radius r 1r2=r1 ! Outer convolution's radius r 2m=(A/2)-r2-r1-2*t-(B/2)! Straight part mpi=acos(-1)! Calculation of π!********** Geometry ***********K, ,,,, ! Rotation's axis keypoint 1K, ,,1,, ! Rotation's axis keypoint 2K, ,B/2+r2+t+m,t+r1,, ! Centre of top circlesK, ,B/2+r2+t,t+2*r1+t+r2,, ! Centre of middle circlesK, ,B/2+r2+t,-r2,, ! Centre of bottom circlescircle,3,r1,,,360,! Draws top inner circlecircle,3,r1+t,,,360,! Draws top outer circlecircle,4,r2,,,360,! Draws middle inner circlecircle,4,r2+t,,,360,! Draws middle outer circlecircle,5,r2,,,360,! Draws bottom inner circlecircle,5,r2+t,,,360,! Draws top outer circleLDELE,9,10,1 , ,1! Deleting of unused arcsLDELE,12,16,4 , ,1 ! " " " "LDELE,13,14,1 , ,1 ! " " " "LDELE,2,3,1 , ,1 ! " " " "LDELE,6,7,1 , ,1 ! " " " "LDELE,19,20,1 , ,1 ! " " " "LDELE,23,24,1 , ,1 ! " " " "LDELE,17,21,4 , ,1 ! " " " "KDELE,14,15,1! Deleting of unneeded keypointsKDELE,18,19,1 ! " " " "KDELE,3,5,1 ! " " " "KDELE,8,12,4 ! " " " "KDELE,25,26,1 ! " " " "KDELE,22,29,7 ! " " " "LSTR,16,20! Building straight walls of the bellowsLSTR,11,17 ! " " " " " "LSTR,21,7 ! " " " " " "LSTR,9,27 ! " " " " " "LSTR,23,13 ! " " " " " "LSTR,28,24 ! " " " " " "LSTR,17,21 ! " " " " " "LSTR,27,23 ! " " " " " "LSTR,7,11 ! " " " " " "LSTR,6,10 ! " " " " " "LSTR,9,13 ! " " " " " "LSEL,ALL! Selecting all lines46
Page 1: Helsinki University of Technology C
Page 4: PrefaceThe author wishes to thank t
Page 8 and 9: FEM modelling of a bellows and a be

fem modelling of a bellows and a bellows- based micromanipulator

Create successful ePaper yourself

Delete template?

Save as template?