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Static force analysis [ edit ] The principle of virtual work yields a set of linear equations that relate the resultant force-torque six vector, called a wrench , that acts on the end-effector to the joint torques of the robot.
In physics and engineering, a free body diagram (FBD; also called a force diagram) [1] is a graphical illustration used to visualize the applied forces, moments, and resulting reactions on a free body in a given condition. It depicts a body or connected bodies with all the applied forces and moments, and reactions, which act on the body(ies).
The action of a force is characterized by its magnitude, by the direction of its action, and by its point of application (or point of contact). Thus, force is a vector quantity, because its effect depends on the direction as well as on the magnitude of the action. [4] Forces are classified as either contact or body forces.
Static force fields are fields, such as a simple electric, magnetic or gravitational fields, that exist without excitations.The most common approximation method that physicists use for scattering calculations can be interpreted as static forces arising from the interactions between two bodies mediated by virtual particles, particles that exist for only a short time determined by the ...
=: the sum of the vertical components of forces equals zero; ∑ M = 0 : {\displaystyle \sum \mathbf {M} =0:} the sum of the moments (about an arbitrary point) of all forces equals zero. Free body diagram of a statically indeterminate beam
The distinction is made between the dynamic and the static analysis on the basis of whether the applied action has enough acceleration in comparison to the structure's natural frequency. If a load is applied sufficiently slowly, the inertia forces (Newton's first law of motion) can be ignored and the analysis can be simplified as static analysis.
The structure’s unknown displacements and forces can then be determined by solving this equation. The direct stiffness method forms the basis for most commercial and free source finite element software. The direct stiffness method originated in the field of aerospace. Researchers looked at various approaches for analysis of complex airplane ...
The seismic input is modelled using either modal spectral analysis or time history analysis but in both cases, the corresponding internal forces and displacements are determined using linear elastic analysis. The advantage of these linear dynamic procedures with respect to linear static procedures is that higher modes can be considered.