首页> 外文期刊>Computers & mathematics with applications >Explicit dynamic finite element analysis of an automated grasping process using highly damped compliant fingers
【24h】

Explicit dynamic finite element analysis of an automated grasping process using highly damped compliant fingers

机译:使用高阻尼顺应手指进行自动抓取过程的显式动态有限元分析

获取原文
获取原文并翻译 | 示例

摘要

This paper has been motivated by the need to reduce the number of live animal tests in the development of an automated live-bird transfer system (LBTS) for the poultry meat-processing industry. Simulation-based models have been developed, which carefully address key engineering issues prior to live animal tests so that physical experiments can be focused on understanding reflex issues such as fear and escape behavior. To gain insights into the effects of operational timing on the LBTS handling performance, the multibody dynamics is modeled numerically based on the method of explicit dynamic finite element analysis (FEA) using off-the-shelf FEA packages. The findings also offer information on contact forces and their locations acting on the object's body and legs by the compliant fingers and grippers respectively for optimizing designs and avoiding damage to the object. Specifically, this paper discusses computational issues such as time-step considerations and highly damped behavior of compliant fingers when modeling using dynamic FEA methods. The FEA model has been validated by comparing simulated handling of an ellipsoidal object by a pair of robotic hands with multiple compliant fingers against published experimental data. It is expected that the FEA-based method presented here can be extended to a spectrum of applications where flexible multibody dynamics involving large deformable contacts and highly damped behaviors plays an important role.
机译:出于减少家禽肉加工行业自动活禽转运系统(LBTS)的活体动物试验数量的需求,本文受到了激励。已经开发了基于仿真的模型,该模型在进行活体动物测试之前会仔细解决关键的工程问题,因此物理实验可以专注于理解反射问题,例如恐惧和逃避行为。为了深入了解操作时间对LBTS操纵性能的影响,使用现成的FEA软件包,基于显式动态有限元分析(FEA)方法,对多体动力学进行数值建模。研究结果还提供了有关顺应性手指和抓手分别作用在物体的身体和腿上的接触力及其位置的信息,以优化设计并避免损坏物体。具体而言,本文讨论了使用动态FEA方法建模时的计算问题,例如时步注意事项和顺应手指的高度阻尼行为。 FEA模型已通过将一对具有多个顺应手指的机器人手对椭圆体的模拟处理与已发布的实验数据进行比较来验证。可以预期的是,此处介绍的基于FEA的方法可以扩展到其中涉及大型可变形接触和高阻尼行为的灵活多体动力学起重要作用的应用范围。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱:kefu@zhangqiaokeyan.com

京公网安备:11010802029741号 ICP备案号:京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有
  • 客服微信

  • 服务号