#  FEM for flexibility 

 



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  expand\_more  

 
  

 

 In this section, we are mainly concerned with the impact of groove depth and wall thickness on the flexibility.

 Cae [here](/hpn-manipulator/downloads)

 Because all the operations have been introduced in the previous section, we will only show the difference.

 The following is our Assembly.

   ![f](/sites/g/files/omnuum4601/files/styles/hwp_1_1__960x960_scale/public/srtsandbox/files/flexibility-2.png?itok=TIjIJZ23) 

 

 **9 loads:**

- Step-0: all airbag 0.001Mpa（The airbag establishes contact with the arm）
- Step-1: airbag-1 0.1Mpa
- Step-2: airbag-2 0.1Mpa
- Step-3: airbag-3 0.1Mpa
- Step-4: airbag-4 0.1Mpa
- Step-5: airbag-5 0.1Mpa
- Step-6: airbag-6 0.1Mpa
- Step-7: airbag-7 0.1Mpa
- Step-8: airbag-8 0.1Mpa

 So, we can get the result like this.

   ![f](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtsandbox/files/flexibility-3.png?itok=n-uAQG3D) 

 

 We measured that area using Monte Carlo method. Furthermore, using L0, L1, R and D, the reachable space can be calculated by the formula. The calculated area approximately equals to the measured counterpart, which validates the calculation method.