2020/03/22 by Georg Nawratil, Nawratil, Georg
Biochemistry, Genetics and Molecular Biology · Engineering · #74A05 #Advanced Materials and Mechanics #Cellular Mechanics and Interactions #Computational Geometry (cs.CG) #FOS: Computer and information sciences #Robotics (cs.RO) #Structural Analysis and Optimization
paper · pdf · doi:10.48550/arxiv.2003.09904
openalex publication_date 2020/03/22 · openalex created_date 2022/07/26 · openalex updated_date 2026/07/28
In a recent article the author presented a method to measure the snapping capability -- shortly called snappability -- of bar-joint frameworks based on the total elastic strain energy by computing the deformation of all bars using Hooke's law and the definition of Cauchy/Engineering strain. Within the paper at hand, we extend this approach to isostatic frameworks composed of bars and triangular plates by using the physical concept of Green-Lagrange strain. An intrinsic pseudometric based on the resulting total elastic strain energy density cannot only be used for evaluating the snappability but also for measuring the distance to the closest singular configuration. The presented methods are demonstrated on the basis of the 3-legged planar parallel manipulator.