fem modelling of a bellows and a bellows- based micromanipulator

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FEM modelling of a bellows and a bellows-based micromanipulatorVI. AnnexLSEL,S,,,12,14,1! Selects various linesLSEL,A,,,16,17,1 ! " " "LSEL,A,,,2,10,8 ! " " "LESIZE,ALL,,,4! Specifies 4 divisions for those linesLSEL,S,,,3,6,3! Selects various linesLSEL,A,,,7,9,2 ! " " "LESIZE,ALL,,,50! Specifies 50 divisions for those linesLSEL,ALL! Selects all linesLESIZE,ALL,,,20! Specifies 20 divisions for all other linesLSEL,S,,,11! Selects various linesLSEL,A,,,2 ! " " "LSEL,A,,,15 ! " " "LSEL,A,,,12 ! " " "AL,ALL! Creates an area with those lines (to improve the meshing)LSEL,S,,,3! Selects various linesLSEL,A,,,12 ! " " "LSEL,A,,,6 ! " " "LSEL,A,,,14 ! " " "AL,ALL! Creates an area with those lines (to improve the meshing)LSEL,S,,,1! Selects various linesLSEL,A,,,14 ! " " "LSEL,A,,,5 ! " " "LSEL,A,,,16 ! " " "AL,ALL! Creates an area with those lines (to improve the meshing)LSEL,S,,,4! Selects various linesLSEL,A,,,16 ! " " "LSEL,A,,,8 ! " " "LSEL,A,,,17 ! " " "AL,ALL! Creates an area with those lines (to improve the meshing)LSEL,S,,,7! Selects various linesLSEL,A,,,9 ! " " "LSEL,A,,,17 ! " " "LSEL,A,,,13 ! " " "AL,ALL! Creates an area with those lines (to improve the meshing)LSEL,S,,,13! Selects various linesLSEL,A,,,22 ! " " "LSEL,A,,,10 ! " " "LSEL,A,,,18 ! " " "AL,ALL! Creates an area with those lines (to improve the meshing)LSEL,ALL! Selects all linesASEL,ALL! Selects all areasAGLUE,ALL! Connecting those areas togetherMSHAPE,0,2D! Specifies the element shape to be usedMSHKEY,1! Specifies that map-meshing should be used to mesh the modelAMESH,ALL! Meshing the model!! ************************************************! * Creating Rigid region *! ************************************************!n,3000,0,t+2*r1+t+r2,0! Creates node 3'000 for the rigid region's master nodeET,2,beam3! Defines element type Nº2 as BEAM3R,2,.0001,.00001, ! Sets the material properties for REAL Nº2TYPE,2 ! Sets the element types attribute pointer to 2REAL,2 ! Sets the element real constant attribute pointer to 2E,3000,2 ! Defines mass-element by node 3'000NSLA,S,,,2! Selects slave nodeNSEL,A,,,3000! Selects also node 3'000 (master)ALLSEL,ALL! Reselect allSAVE,meshed2d,db,! Saving the database to 'meshed2d.db'FINISH! Exits the pre-processor47
VI. AnnexFEM modelling of a bellows and a bellows-based micromanipulatorb) 3D solid45 model, with optional rigid regionFINISH! Exits previous processor/CLEAR! Erases the database/PREP7! Enters pre-processorET,1,SOLID45! Defines element type no.1 to SOLID45MP,ex,1,161E+6! Sets Young's Modulus to 1'160 PaMP,nuxy,1,0.3! Sets Poisson’s ratioA=6.35! Outer diameter AB=3.81! Inner diameter BD=0.7832! Convolution pitch Dl0=18.7960 ! Total convolution's length L 0t=0.0381! Wall thickness tr1=(D-2*t)/4 ! Calculated inner radius r 1r2=r1 ! Calculated outer radius r 2m=(A/2)-r2-r1-2*t-(B/2)! Straight part mpi=acos(-1)! Definition of πK, ,,,, ! 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! Deletes unneeded circle partsLDELE,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! Deletes unneeded keypointsKDELE,18,19,1 ! " " "KDELE,3,5,1 ! " " "KDELE,8,12,4 ! " " "KDELE,25,26,1 ! " " "KDELE,22,29,7 ! " " "LSTR,16,20! Builds straight wallsLSTR,11,17 ! " " "LSTR,21,7 ! " " "LSTR,9,27 ! " " "LSTR,23,13 ! " " "LSTR,28,24 ! " " "AL,ALL! Generates an areas by previously defined linesLSTR,17,21! Builds straight wallsLSTR,23,27 ! " " "LSTR,7,11 ! " " "LSTR,9,13 ! " " "LSTR,6,10 ! " " "LSEL,S,,,12,14,1 ! Selects lines 12-14LSEL,A,,,16,17,1 ! Also selects lines 16 and 17ASBL,1,ALL,,DELETE,KEEP! Subtracts selected lines from area! so that the meshing will be! more efficientLSEL,ALL! Selects all linesLSEL,S,,,11,18,7 ! Selects new set of line 11 and 18LESIZE,ALL,,,6! Specifies 6 division for those linesLSEL,ALL! Selects all linesLSEL,S,,,1,4,3 ! Selects new set of line 1 and 4LESIZE,ALL,,,6! Specifies 6 divisions for those lines also! (kept, so that it can be changed)LSEL,ALL! Selects all lines againLESIZE,ALL,0.06! Specifies the line-divisions' length! for all other linesASEL,ALL! Selects all areas48
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Helsinki University of Technology C
Page 4: PrefaceThe author wishes to thank t
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