Dynamic stiffness matrix and load functions of Timoshenko beam using the transport matrix
ABSTRACT Based on the solution of the differential equations governing the dynamic equilibrium of a Timoshenko beam, the dynamic transport matrix equations and load functions are developed. The resulting matrix equations are then used to obtain analytical expressions for the components of dynamic stiffness matrix and load functions assuming that effects of damping and cross-section warping are negligible. The resulting dynamic stiffness matrix procedure is then used to obtain the vector of dynamic stiffness load functions for beam elements subjected to concentrated and distributed loads. In terms of a characteristicratioCr (including shear deformations and rotary inertia), the procedure is presented in a unified form by which the dynamic (or static) analysis of an integrated system of Timoshenko beams can be easily automated. Numerical implementation of the resulting dynamic stiffness matrix is verified by studying the effects of shear deformations and/or rotary inertia on values of natural frequencies for several beam cases, and one case of a rigid frame. The results obtained through application of the method of this paper are verified by comparison to results obtained by a finite element code.
- [Show abstract] [Hide abstract]
ABSTRACT: In this paper, a novel force sensor based on commercial discrete optoelectronic components mounted on a compliant frame is described. The compliant frame has been designed through an optimization procedure to achieve a desired relation between the applied force and the angular displacement of the optical axes of the optoelectronic components. The narrow-angle characteristics of Light Emitting Diode (LED) and PhotoDetector (PD) couples have been exploited for the generation of a signal proportional to very limited deformation of the compliant frame caused by the external traction force. This sensor is suitable for applications in the field of tendon driven robots, and in particular the use of this sensor for the measurement of the actuator side tendon force in a robotic hand is reported. The design procedure of the sensor is presented together with the sensor prototype, the experimental verification of the calibration curve and of the frame deformation and the testing in a force feedback control system. The main advantages of this sensor are the simplified conditioning electronics, the very high noise-to-signal ratio and the immunity to electromagnetic fields.Sensors and Actuators A Physical 02/2011; 165(2):239-249. DOI:10.1016/j.sna.2010.11.007 · 1.94 Impact Factor
Conference Paper: A Model For Quantifying The Prospects For Image SuperResolutionMultidimensional Signal Processing, 1991., Proceedings of the Seventh Workshop on; 10/1991