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A nonconforming finite method is described for treating linear equilibrium problems, and a convergence proof showing second order accuracy is given. The close relationship to a related compact finite difference scheme due to Phillips and Rose is examined. A condensation technique is shown to preserve the compactness property and suggests an approach to a certain type of homogenization.
A series of impact problems were analyzed using the Eulerian hydrocode CTH. The objective was to quantify the amount of energy dissipated locally by a projectile-infinite plate impact. A series of six impact problems were formulated such that the mass and speed of each projectile were varied in order to allow for increasing speed with constant kinetic energy. The properties and dimensions of the plate were the same for each projectile impact. The resulting response of the plate was analyzed for global Kinetic Energy, global momentum, and local maximum shear stress. The percentage of energy dissipated by the various hypervelocity impact phenomena appears as a relative change of shear stress at a point away from the impact in the plate.
Application to the simulation of idealized spacecraft are considered both for multiple-rigid-body models and for models consisting of combination of rigid bodies and elastic bodies, with the elastic bodies being defined either as continua, as finite-element systems, or as a collection of given modal data. Several specific examples are developed in detail by alternative methods of analytical mechanics, and results are compared to a Newton-Euler formulation. The following methods are developed from d'Alembert's principle in vector form: (1) Lagrange's form of d'Alembert's principle for independent generalized coordinates; (2) Lagrange's form of d'Alembert's principle for simply constrained systems; (3) Kane's quasi-coordinate formulation of D'Alembert's principle; (4) Lagrange's equations for independent generalized coordinates; (5) Lagrange's equations for simply constrained systems; (6) Lagrangian quasi-coordinate equations (or the Boltzmann-Hamel equations); (7) Hamilton's equations for simply constrained systems; and (8) Hamilton's equations for independent generalized coordinates.
Equivalent equations which govern deformations of self-gravitating elastic bodies of nonuniform internal temperature
Spinning body with rigid and elastic parts, using Liapunov direct method for attitude stability analysis
This paper discusses theoretical foundations of quantitative image-based measurements for extracting and reconstructing geometric, kinematic and dynamic properties of observed objects. New results are obtained by using a combination of methods in perspective geometry, differential geometry. radiometry, kinematics and dynamics. Specific topics include perspective projection transformation. perspective developable conical surface, perspective projection under surface constraint, perspective invariants, the point correspondence problem. motion fields of curves and surfaces. and motion equations of image intensity. The methods given in this paper arc useful for determining morphology and motion fields of deformable bodies such as elastic bodies. viscoelastic mediums and fluids.
Thermodynamic properties of inhomogeneous elastic bodies
Problems of elasticity associated with the behavior of free surfaces of elastic bodies are reviewed with particular reference to the propagation of characteristic waves and the criteria of wrinkling of free surfaces. All transformations are given for the case when a free surface of an elastic body is streamlined by the flow of inviscid fluid. The wrinkling phenomenon is illustrated by example.
The indicator is characterized by an elongated elastic body having extended from the opposite ends of threaded shanks adapted to selected tension members. A pair of external shoulders, one of which is axially displaceable relative to the other, and a rigid tubular sleeve interposed between said shoulders are included. Tension is applied to the elastic body for imparting strain. The movable shoulder can be advanced into abutting engagement with the sleeve, whereby the sleeve is placed in compression once the tensile forces are removed from the shanks. A reapplication of tensile forces equal to the initially applied tensile forces removes the sleeve from compression, whereby the sleeve is freed for rotation for thus indicating the magnitude of the applied tensile forces.
Dynamic stability analysis of liquid filled rigid bodies and liquid filled elastic bodies
System of differential equations that reflects interrelationships of deformation, diffusion, and thermoconductivity used to study stress concentration around holes in elastic body
The effects of pin elasticity, pin/hole friction, and pin/hole clearance on the stresses around a hole in a pin-loaded orthotropic plate were studied. The problem was modeled as a planar problem, the pin and plate being two elastic bodies interacting through contact. Complex variable elasticity, a collocation scheme to enforce the pin/hole boundary conditions, and an iteration procedure to find the contact, slip, and no-slip regions were used to obtain numerical results. The results indicate that pin elasticity is not as important a variable as friction and clearance are. A rigid pin assumption, as opposed to the popular cosinusoidal radial traction, can be used without much error but clearance and friction should not be ignored.
A variational formulation is given for the equations of motion for an unconstrained elastic body, and Hamilton's principle is used to derive the equations of motion and deformation of the body. Finite-element approximations are developed for these dynamical equations with respect to a body axis system satisfying the mean axis conditions. The free-body influence matrix for the body then is developed in terms of the finite-element model parameters.
The equations of motion for an arbitrarily interconnected collection of substructures are derived. The substructures are elastic bodies which may be idealized as finite element assemblies and are subject to small deformations relative to a nominal state. Interconnections between the elastic substructures permit large relative translations and rotations between substructures, governed by Pfaffian constraints describing the connections. Screw connections (permitting rotation about and translation along a single axis) eliminate constraint forces and incorporate modal coupling. The problem of flexible spacecraft simulation is discussed. Hurty's component mode approach is extended by permitting interconnected elastic substructures large motions relative to each other and relative to inertial space. The hybrid coordinate methods are generalized by permitting all substructures to be flexible (rather than only the terminal members of a topological tree of substructures). The basic relationships of continuum mechanics are developed.
A nonlinear simulation is developed to model the longitudinal motion of a vehicle in hypersonic flight. The equations of motion pertinent to this study are presented. Analytic expressions for the aerodynamic forces acting on a hypersonic vehicle which were obtained from Newtonian Impact Theory are further developed. The control surface forces are further examined to incorporate vehicle elastic motion. The purpose is to establish feasible equations of motion which combine rigid body, elastic, and aeropropulsive dynamics for use in nonlinear simulations. The software package SIMULINK is used to implement the simulation. Also discussed are issues needing additional attention and potential problems associated with the implementation (with proposed solutions).
Two approaches are developed to analyze the dynamic behavior of flexible multibody systems. In the first approach each body is modeled with a modal methodology in a local non-inertial frame of reference, whereas in the second approach, each body is modeled with a finite element methodology in the inertial frame. In both cases, the interaction among the various elastic bodies is represented by constraint equations. The two approaches were compared for accuracy and efficiency: the first approach is preferable when the nonlinearities are not too strong but it becomes cumbersome and expensive to use when many modes must be used. The second approach is more general and easier to implement but could result in high computation costs for a large system. The constraints should be enforced in a time derivative fashion for better accuracy and stability.
The state of the art dynamic response analysis of flexible multibody systems is currently restricted to elastic bodies with homogeneous materials. The requirements for high speed operation has made it necessary to use lightweight multi layered composite bodies in robotic systems and space structure applications. Dynamic modeling and analysis of such systems are particularly important since the effects of body flexibility to the performance are likely to be more pronounced. The eight-noded isoperimetric quadrilateral element with independent rotational and displacement degrees of freedom is extended to laminated composite elements. The element includes an arbitrary number of bonded layers, each of which may have a different thickness. The transverse shear deformation which is a predominant factor in the analysis of laminated composite structures is taken into account in developing the stiffness and mass matrices. The corresponding 3-D mode shapes are then incorporated to the multibody system dynamical equations. Floating body reference frames allow the selection of different boundary conditions, and the dynamical equations contain all the nonlinear interactions between the rigid and elastic motion. Example simulations are presented to illustrate the methods proposed.
This paper presents an innovative method for minimizing the vibration of structures with time-variant boundary conditions (supports). The elastic body is modeled in two ways: (1) the first model is a letter seven type beam with a movable mass not to exceed the lower tip; (2) the second model has an arm that is a hollow beam with an inside mass with adjustable position. The complete solutions to both problems are carried out where the body is undergoing large rotation. The quasi-static procedure is used for the time-variant boundary conditions. The method developed employs partial differential equations governing the motion of the beam, including the effects of rigid-body motion, time-variant boundary conditions, and calculus of variations. The analytical solution is developed using Laplace and Fourier transforms. Examples of elastic robotic arms are given to illustrate the effectiveness of the methods developed.