The Application of Finite Element Methods to the Dynamic Analysis of Flexible Spatial and Co-Planar Linkage Systems

[+] Author and Article Information
W. Sunada, S. Dubowsky

School of Engineering and Applied Science, University of California, Los Angeles, Calif. 90024

J. Mech. Des 103(3), 643-651 (Jul 01, 1981) (9 pages) doi:10.1115/1.3254965 History: Received June 01, 1980; Online November 17, 2009


An analytical method is presented for the dynamics of spatial mechanisms containing complex-shaped, flexible links with application to both high-speed industrial machines and robotic manipulators. Existing NASTRAN-type finite element structural analysis programs are combined with 4 × 4 matrix dynamic analysis techniques and Component Mode Synthesis coordinate reduction to yield a procedure capable of analyzing complex, non-linear spatial mechanisms with irregularly shaped links in great detail, yet producing a system of equations small enough for efficient numerical integration. The method is applied to two examples.

Copyright © 1981 by ASME
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