Asymmetric Spatial Beams with Symmetric Kinetostatic Behaviour

Ali Amoozandeh Nobaveh*, Giuseppe Radaelli, Just L. Herder

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeChapterScientificpeer-review

2 Citations (Scopus)
33 Downloads (Pure)


A method to achieve symmetric kinetostatic behaviour in an extensive working range at the endpoint of an asymmetric spatial beam, using cross-section optimization, is presented. The objective function of the optimization is defined as expanding the beam working range to the desired region, simultaneously maximizing symmetric behaviour in it. To reach this goal, a beam with predefined spatial global shape and an ‘I’ cross-section selected. The cross-sectional dimensions throughout the beam are used as input values for the optimization. The endpoint displacements under symmetric loadings are attained using a nonlinear co-rotational beam element based on the Euler-Bernoulli beam formulation. The optimized beams are compared to a circular cross-section beam with the same global shape to show the efficacy of the method. Isoforce diagrams are investigated for the optimized beams to show the symmetry behaviour of the beam endpoint and the effect of changing different parameters in cross-sectional optimization is discussed.

Original languageEnglish
Title of host publicationProceedings ROMANSY 23 - Robot Design, Dynamics and Control
EditorsGentiane Venture, Jorge Solis, Yukio Takeda, Atsushi Konno
Place of PublicationCham, Switzerland
ISBN (Electronic)978-3-030-58380-4
ISBN (Print)978-3-030-58379-8
Publication statusPublished - 2021
EventROMANSKY 23: Symposium on Robot Design, Dynamics and Control - Sapporo, Japan
Duration: 20 Sept 202024 Sept 2020

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706


ConferenceROMANSKY 23: Symposium on Robot Design, Dynamics and Control

Bibliographical note

Accepted Author Manuscript


  • Asymmetric beam
  • Cross-section optimization
  • Isoforce mapping
  • Spatial compliant mechanism
  • Symmetric stiffness


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