Output file for Force-Controlled Maneuver of Flexible Robot Arm
Output file for Force-Controlled Maneuver of Flexible Robot Arm
The abbreviated output is as follows:
===================================
PROFILE
===================================
node dof1 dof2 dof3
----------------------------------------------------
1 -1 -2 1
2 2 3 4
3 5 6 7
4 8 9 10
5 11 12 13
6 14 15 16
----------------------------------------------------
===========================================================================
Title : DESCRIPTION OF FINITE ELEMENT MESH
===========================================================================
=======================
Profile of Problem Size
=======================
Dimension of Problem = 2
Number Nodes = 6
Degrees of Freedom per node = 3
Max No Nodes Per Element = 2
Number Elements = 5
Number Element Attributes = 1
Number Loaded Nodes = 1
Number Loaded Elements = 0
===================================================
Node# X_coord Y_coord Tx Ty
===================================================
1 0.0000e+00 m 0.0000e+00 m -1 -2 1
2 2.0000e+00 m 0.0000e+00 m 2 3 4
3 4.0000e+00 m 0.0000e+00 m 5 6 7
4 6.0000e+00 m 0.0000e+00 m 8 9 10
5 8.0000e+00 m 0.0000e+00 m 11 12 13
6 1.0000e+01 m 0.0000e+00 m 14 15 16
====================================================================
Element# Type node[1] node[2] Element_Attr_Name
======================================================================
1 GEXACT_2D 1 2 rodproperties
2 GEXACT_2D 2 3 rodproperties
3 GEXACT_2D 3 4 rodproperties
4 GEXACT_2D 4 5 rodproperties
5 GEXACT_2D 5 6 rodproperties
======================
Element Attribute Data
======================
Element Attribute No 1 : name = "rodproperties"
: section = "rodsection"
: material = "rodmaterial"
: type = GEXACT_2D
EXTERNAL NODAL LOADINGS
================================================
Node# Fx (N) Fy (N) Mz (N.m)
================================================
1 0.00 0.00 100000.00
============= End of Finite Element Mesh Description ==============
*** ---------------------------------
*** Nonlinear Iterations = 7
*** err = 9.687e-09
*** ---------------------------------
Coordinates of Displaced Rod
============================
Node : 1 x = 0 m y = 0 m
Node : 2 x = 1.996 m y = 0.03643 m
Node : 3 x = 3.999 m y = 0.02541 m
Node : 4 x = 6 m y = 0.01266 m
Node : 5 x = 8 m y = 0.005849 m
Node : 6 x = 10 m y = 0.005033 m
*** Start at step : 2 : time = 0.2 sec
*** ---------------------------------
*** Nonlinear Iterations = 6
*** err = 1.97e-08
*** ---------------------------------
.... lines of output removed .....
*** Start at step : 59 : time = 5.9 sec
*** ---------------------------------
*** Nonlinear Iterations = 9
*** err = 1.57e-08
*** ---------------------------------
Coordinates of Displaced Rod
============================
Node : 1 x = 0 m y = 0 m
Node : 2 x = -0.9084 m y = -2.159 m
Node : 3 x = -1.778 m y = -4.226 m
Node : 4 x = -2.634 m y = -6.241 m
Node : 5 x = -3.449 m y = -8.251 m
Node : 6 x = -4.221 m y = -10.17 m
*** Start at step : 60 : time = 6 sec
*** ---------------------------------
*** Nonlinear Iterations = 8
*** err = 8.815e-08
*** ---------------------------------
Coordinates of Displaced Rod
============================
Node : 1 x = 0 m y = 0 m
Node : 2 x = -0.6411 m y = -2.215 m
Node : 3 x = -1.26 m y = -4.383 m
Node : 4 x = -1.86 m y = -6.509 m
Node : 5 x = -2.447 m y = -8.588 m
Node : 6 x = -2.984 m y = -10.57 m
MATRIX : "xResponse"
row/col 1 2 3 4 5 6
units m m m m m m
1 0.00000e+00 2.00000e+00 4.00000e+00 6.00000e+00 8.00000e+00 1.00000e+01
2 0.00000e+00 1.99227e+00 3.98798e+00 5.98452e+00 7.98497e+00 9.98600e+00
3 0.00000e+00 1.97434e+00 3.95440e+00 5.93634e+00 7.92035e+00 9.90373e+00
4 0.00000e+00 1.89899e+00 3.81691e+00 5.73815e+00 7.65460e+00 9.54848e+00
5 0.00000e+00 1.66730e+00 3.36257e+00 5.08720e+00 6.81567e+00 8.52117e+00
6 0.00000e+00 1.27870e+00 2.55769e+00 3.82817e+00 5.08542e+00 6.31501e+00
7 0.00000e+00 5.30726e-01 1.12130e+00 1.75154e+00 2.40063e+00 3.05948e+00
8 0.00000e+00 -3.49407e-01 -6.50522e-01 -9.20861e-01 -1.16810e+00 -1.40362e+00
9 0.00000e+00 -1.29119e+00 -2.55074e+00 -3.78099e+00 -4.99124e+00 -6.16843e+00
10 0.00000e+00 -2.09294e+00 -4.12517e+00 -6.08048e+00 -7.96780e+00 -9.79927e+00
11 0.00000e+00 -2.28292e+00 -4.54962e+00 -6.76483e+00 -8.91728e+00 -1.09661e+01
12 0.00000e+00 -1.75399e+00 -3.48935e+00 -5.22029e+00 -6.89593e+00 -8.47141e+00
13 0.00000e+00 -6.41135e-01 -1.25980e+00 -1.86019e+00 -2.44734e+00 -2.98415e+00
MATRIX : "yResponse"
row/col 1 2 3 4 5 6
units m m m m m m
1 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
2 0.00000e+00 1.57778e-01 2.47100e-01 3.05560e-01 3.19433e-01 3.28375e-01
3 0.00000e+00 3.77338e-01 6.99977e-01 9.73427e-01 1.25096e+00 1.53386e+00
4 0.00000e+00 7.21043e-01 1.38684e+00 2.04994e+00 2.73878e+00 3.44426e+00
5 0.00000e+00 1.25966e+00 2.41174e+00 3.49678e+00 4.58184e+00 5.63863e+00
6 0.00000e+00 1.67910e+00 3.30293e+00 4.91664e+00 6.53767e+00 8.13927e+00
7 0.00000e+00 2.05632e+00 4.08233e+00 6.08873e+00 8.08672e+00 1.00102e+01
8 0.00000e+00 2.16137e+00 4.30656e+00 6.41836e+00 8.47592e+00 1.04859e+01
9 0.00000e+00 1.76304e+00 3.57668e+00 5.37378e+00 7.10600e+00 8.78956e+00
10 0.00000e+00 8.51409e-01 1.79943e+00 2.78202e+00 3.73363e+00 4.63763e+00
11 0.00000e+00 -3.26074e-01 -5.97272e-01 -8.49707e-01 -1.14299e+00 -1.45175e+00
12 0.00000e+00 -1.53422e+00 -3.00654e+00 -4.45735e+00 -5.89123e+00 -7.25048e+00
13 0.00000e+00 -2.21487e+00 -4.38284e+00 -6.50853e+00 -8.58798e+00 -1.05671e+01
Developed in 2000 by Mark Austin,
Copyright © 2000, Mark Austin, University of Maryland.