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The initial stiffness method has been extensively adopted for elasto‐plastic finite element analysis. The main problem associated with the initial stiffness method, however, is its slow convergence, even when it is used in conjunction with acceleration techniques. The Newton‐Raphson method has a rapid convergence rate, but its implementation resorts to non‐symmetric linear solvers, and hence the memory requirement may be high. The purpose of this paper is to develop more advanced solution techniques which may overcome the above problems associated with the initial stiffness method and the Newton‐Raphson method.

In this work, the accelerated symmetric stiffness matrix methods, which cover the accelerated initial stiffness methods as special cases, are proposed for non‐associated plasticity. Within the computational framework for the accelerated symmetric stiffness matrix techniques, some symmetric stiffness matrix candidates are investigated and evaluated.

Numerical results indicate that for the accelerated symmetric stiffness methods, the elasto‐plastic constitutive matrix, which is constructed by mapping the yield surface of the equivalent material to the plastic potential surface, appears to be appealing. Even when combined with the Krylov iterative solver using a loose convergence criterion, they may still provide good nonlinear convergence rates.

Compared to the work by Sloan et al., the novelty of this study is that a symmetric stiffness matrix is proposed to be used in conjunction with acceleration schemes and it is shown to be more appealing; it is assembled from the elasto‐plastic constitutive matrix by mapping the yield surface of the equivalent material to the plastic potential surface. The advantage of combining the proposed accelerated symmetric stiffness techniques with the Krylov subspace iterative methods for large‐scale applications is also emphasized.

The present study focusses on algorithmic aspects related to deformation dependent loads in non‐linear static finite element analysis. If the deformation dependency is considered only on the right hand side, a considerable increase in the number of iterations follows. It may also cause failure of convergence in the proximity of critical points. If in turn the deformation dependent loading is included within the consistent linearization, an additional left hand side term emerges, the so‐called load stiffness matrix. In this paper several numerical test cases are used to show and quantify the influence of the two different approaches on the iteration process. Consideration of the complete load stiffness matrix may result in a cumbersome coding effort, different for each load case, and in certain cases its derivation is even not practicable at all. Therefore also several formulations for approximated load stiffness matrices are presented. It is shown that these simplifications not only reduce the additional effort for linearization and implementation, but also keep the iterative costs relatively small and still allow the calculation of the entire equilibrium path.

The purpose of this paper is to propose an improved method which can shorten the calculation time and improve the calculation efficiency under the premise of ensuring the calculation accuracy for calculating the response of dynamic systems with periodic time-varying characteristics.

An improved method is proposed based on Runge–Kutta method according to the composition characteristics of the state space matrix and the external load vector formed by the reduction of the dynamic equation of the periodic time-varying system. The recursive scheme of the holistic matrix of the system using the Runge–Kutta method is improved to be the sub-block matrix that is divided into the upper and lower parts to reduce the calculation steps and the occupied computer memory.

The calculation time consumption is reduced to a certain extent about 10–35% by changing the synthesis method of the time-varying matrix of the dynamics system, and the method proposed of paper consumes 43–75% less calculation time in total than the original Runge–Kutta method without affecting the calculation accuracy. When the ode45 command that implements the Runge–Kutta method in the MATLAB software used to solve the system dynamics equation include the time variable which cannot provide its specific analytic function form, so the time variable value corresponding to the solution time needs to be determined by the interpolation method, which causes the calculation efficiency of the ode45 command to be substantially reduced.

The proposed method can be applied to solve dynamic systems with periodic time-varying characteristics, and can consume less calculation time than the original Runge–Kutta method without affecting the calculation accuracy, especially the superiority of the improved method of this paper can be better demonstrated when the degree of freedom of the periodic time-varying dynamics system is greater.

The purpose of this paper is to propose a two-degrees-of-freedom wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism based on spring, in order to improve the robot’s athletic ability, load capacity and rigidity, and to ensure the coordination of multi-modal motion.

First, based on the rotation transformation matrix and closed-loop constraint equation of the parallel trunk joint mechanism, the mathematical model of its inverse position solution is constructed. Then, the Jacobian matrix of velocity and acceleration is derived by time derivative method. On this basis, the stiffness matrix of the parallel trunk joint mechanism is derived on the basis of the principle of virtual work and combined with the deformation effect of the rope driving pair and the spring elastic restraint pair. Then, the eigenvalue distribution of the stiffness matrix and the global stiffness performance index are used as the stiffness evaluation index of the mechanism. In addition, the performance index of athletic dexterity is analyzed. Finally, the distribution map of kinematic dexterity and stiffness is drawn in the workspace by numerical simulation, and the influence of the introduced spring on the stiffness distribution of the parallel trunk joint mechanism is compared and analyzed. It is concluded that the stiffness in the specific direction of the parallel trunk joint mechanism can be improved, and the stiffness distribution can be improved by adjusting the spring elastic structure parameters of the rope-driven branch chain.

Studies have shown that the wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism based on spring has a great kinematic dexterity, load-carrying capacity and stiffness performance.

The soft-mixed structure is not mature, and there are few new materials for the soft-mixed mixture; the rope and the rigid structure are driven together with a large amount of friction and hindrance factors, etc.

It ensures that the multi-motion mode hexapod mobile robot can meet the requirement of sufficient different stiffness for different motion postures through the parallel trunk joint mechanism, and it ensures that the multi-motion mode hexapod mobile robot in multi-motion mode can meet the performance requirement of global stiffness change at different pose points of different motion postures through the parallel trunk joint mechanism.

The trunk structure is a very critical mechanism for animals. Animals in the movement to achieve smooth climbing, overturning and other different postures, such as centipede, starfish, giant salamander and other multi-legged animals, not only rely on the unique leg mechanism, but also must have a unique trunk joint mechanism. Based on the cooperation of these two mechanisms, the animal can achieve a stable, flexible and flexible variety of motion characteristics. Therefore, the trunk joint mechanism has an important significance for the coordinated movement of the whole body of the multi-sport mode mobile robot (Huang Hu-lin, 2016).

In this paper, based on the idea of combining rigid parallel mechanism with wire-driven mechanism, a trunk mechanism is designed, which is composed of four spring-based wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism in series. Its spring-based wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism can make the multi-motion mode mobile robot have better load capacity, mobility and stiffness performance (Qi-zhi et al., 2018; Cong-hao et al., 2018), thus improving the environmental adaptability and reliability of the multi-motion mode mobile robot.

THE general theorems given in Sections 4 and 6 include, from the fundamental point of view, all that is required for the analysis of redundant structures. However, to facilitate practical calculations it is helpful to develop more explicit methods and formulae. To find these is the purpose of this Section.

The purpose of this paper is to establish and implement a direct topological reanalysis algorithm for general successive structural modifications, based on the updating matrix triangular factorization (UMTF) method for non-topological modification proposed by Song et al. [Computers and Structures, 143(2014):60-72].

In this method, topological modifications are viewed as a union of symbolic and numerical change of structural matrices. The numerical part is dealt with UMTF by directly updating the matrix triangular factors. For symbolic change, an integral structure which consists of all potential nodes/elements is introduced to avoid side effects on the efficiency during successive modifications. Necessary pre- and post processing are also developed for memory-economic matrix manipulation.

The new reanalysis algorithm is applicable to successive general structural modifications for arbitrary modification amplitudes and locations. It explicitly updates the factor matrices of the modified structure and thus guarantees the accuracy as full direct analysis while greatly enhancing the efficiency.

Examples including evolutionary structural optimization and sequential construction analysis show the capability and efficiency of the algorithm.

This innovative paper makes direct topological reanalysis be applicable for successive structural modifications in many different areas.

The Semiloof shell element stiffness and mass matrices are analysed. Various integration rules for the stiffness matrix are used, and the influence of these rules on the existence of mechanisms and on the element spectra is studied. Some methods for lumping the mass matrix are attempted with special reference to a method imposing a given behaviour of the spectra of eigenvalues.

The purpose of this paper is to introduce a method for stiffness modeling, identification and updating of collaborative robots (cobots). This method operates in real-time and with high precision and can eliminate the modeling error between the actual stiffness model and the theoretical stiffness model.

To simultaneously ensure the computational efficiency and modeling accuracy of the stiffness model, this method introduces the finite element substructure method (FESM) into the virtual joint method (VJM). The stiffness model of the cobots is built by integrating several 6-degree of freedom virtual joints that represent the elastic deformation of the cobot modules, and the stiffness matrices of these modules can be identified and obtained by the FESM. A model-updating method is proposed to identify stiffness influence coefficients, which can eliminate the modeling error between the actual prototype model and the theoretical finite element model.

The average relative error and the cycle time of the proposed method are approximately 6.14% and 1.31 ms, respectively. Compared with other stiffness modeling methods, this method not only has high modeling accuracy in high dexterity poses but also in low dexterity poses.

A hybrid stiffness modeling method is introduced to integrate the modeling accuracy of the FESM into the VJM. Stiffness influence coefficients are proposed to eliminate the modeling error between the theoretical and actual stiffness models.

Teaches by example the application of finite element templates in constructing high performance elements. The example discusses the improvement of the mass and geometric stiffness matrices of a Bernoulli‐Euler plane beam. This process interweaves classical techniques (Fourier analysis and weighted orthogonal polynomials) with newer tools (finite element templates and computer algebra systems). Templates are parameterized algebraic forms that uniquely characterize an element population by a “genetic signature” defined by the set of free parameters. Specific elements are obtained by assigning numeric values to the parameters. This freedom of choice can be used to design “custom” elements. For this example weighted orthogonal polynomials are used to construct templates for the beam material stiffness, geometric stiffness and mass matrices. Fourier analysis carried out through symbolic computation searches for template signatures of mass and geometric stiffness that deliver matrices with desirable properties when used in conjunction with the well‐known Hermitian beam material stiffness. For mass‐stiffness combinations, three objectives are noted: high accuracy for vibration analysis, wide separation of acoustic and optical branches, and low sensitivity to mesh distortion and boundary conditions. Only the first objective is examined in detail.

Industrial robots have found great potential in applications to assembly‐line automation. Programmable robot‐based assembly systems are often needed, in particular for circumstances in which special assembly equipments is not available or well‐trained operators could not be employed economically. Robots with enough compliance can perform not only classic automation tasks, such as spot welding, cargo carrying, etc., but also can operate those tasks which demand the compliant motion capacity of robots. Therefore, the research on robot compliance is especially important for parts assembly by robots, where robot compliant motions and manipulations are essential requirements. This paper presents a number of important issues in robot compliance research, including the specification of robot end‐effector compliance; properties of a robot compliance matrix at its end‐effector; discussions on passive compliance and active compliance and their comparisons; and derivation of the compliance at the end‐effector required for tasks.