In this study, the static stability of the grasp of a single planar object is analyzed using the potential energy method. Inprevious papers, we considered cases in which individual fingers were replaced by a multidimensional translational spring model, inwhich each finger is constructed with prismatic joints. Human hands and the most developed mechanical hands are constructed withre...

In this work we demonstrate how the extension of the Evans function method using the compound matrix approach can be implemented to undertake the stability analysis (normally done through numerical means) of nonlinear travelling waves. The main advantage of this approach is that it can easily overcome the stiffness which is normally associated with these kinds of problems. We present a general ...

This paper addresses the problem of task-based stiffness synthesis of a variable geometry three DOF (Degrees Of Freedom) planar robot. The synthesis considers the case where the robot has a limited number of free geometric parameters and constant actuator stiffness coefficients. This defines twenty problems of stiffness synthesis, in which, three parameters of the stiffness matrix are controlle...

Parallel manipulators have various advantages over serial robots but they have a few drawbacks mainly referring to stiffness and singularities. Close to or in singular configurations the structure can not resist an external wrench applied to the mobile platform, therefore it may have uncontrolled movements. The study of the stiffness becomes of primary importance to design multibody robotic sys...

in this paper, evaluation of torsional stiffness in beam and slab bridge deck elements is presented. a beam and slab bridge decks structurally behave as a grillage. a grillage has an efficient transverse load distribution due to transverse asymmetric load. in the case of bridge deck without transverse beams in the span, transverse load distribution depends on the torsional stiffness of longitud...

Numerical solution of extremely large and ill conditioned eigenvalue problems is attracting a growing attention recently as such problems are of major importance in applications. They arise typically as discretization of continuous models described by systems of partial differential equations (PDE’s). For such problems, preconditioned matrix-free eigensolvers are especially effective as the sti...

a meshless approach, collocation discrete least square (cdls) method, is extended in this paper, for solvingelasticity problems. in the present cdls method, the problem domain is discretized by distributed field nodes. the fieldnodes are used to construct the trial functions. the moving least-squares interpolant is employed to construct the trialfunctions. some collocation points that are indep...

Hierarchical matrices provide a data-sparse way to approximate fully populated matrices. In this paper we exploit H-matrix techniques to approximate the LU -decompositions of stiffness matrices as they appear in (finite element or finite difference) discretizations of convectiondominated elliptic partial differential equations. These sparse H-matrix approximations may then be used as preconditi...

Although segmental tunnel linings are often used for seismic areas, the influence of segment joints on the segmental lining behavior under seismic loading has not been thoroughly considered in the literature. This paper presents the results of a numerical study investigating the effects of the rotational, axial, and radial joint stiffness of the longitudinal joints on the structural force...

In this paper, I explore the exponential Rosenbrock-type method of order two. It is an explicit method that solves stiff ODEs. The method linearizes the equation with each step, then uses a matrix exponential to solve the linearized equation exactly. Previous research has identified stability bounds and convergence results. In this paper, I explore the stiffness capabilities of this second orde...