On the snappability and singularity-distance of frameworks with bars and triangular plates
This work addresses the problem of evaluating snapping capability and singularity distance in mechanical frameworks, which is incremental as it builds on prior methods.
The authors extended a method for measuring the snappability of bar-joint frameworks to include isostatic frameworks with bars and triangular plates, using Green-Lagrange strain, and demonstrated it on a 3-legged planar parallel manipulator.
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.