scholarly journals Kinematic sensitivity analysis of manipulators using a novel dimensionless index

2022 ◽  
pp. 104021
Author(s):  
Allaoua Brahmia ◽  
Ridha Kelaiaia ◽  
Olivier Company ◽  
Ahmed Chemori
Keyword(s):  
Sensitivity Analysis ◽  
Kinematic Sensitivity

Kinematic sensitivity analysis of a novel micro-mechanism for displacement amplification

2018 ◽  
Vol 42 (4) ◽  
pp. 436-443 ◽  
Author(s):  
Sohail Iqbal ◽  
Afzaal Malik ◽  
Rana I Shakoor
Keyword(s):  
Sensitivity Analysis ◽  
Finite Element ◽  
Modal Analysis ◽  
Geometric Parameters ◽  
Small Displacement ◽  
Extended Finite Element ◽  
Dynamic Simulations ◽  
Element Analysis ◽  
Amplification Mechanism ◽  
Kinematic Sensitivity

This research article presents the design and analysis of a displacement amplification mechanism based on a microelectromechanical system (MEMS). The mechanism, compared to generic displacement mechanisms, is smaller and capable of amplifying input displacement by a factor of 6.8. Finite element analysis (FEA) is performed with commercial software Intellisuite using the extended finite element method (XFEM) technique to verify the analytical results from mathematical models. Kinematic response and kinematic sensitivity analysis of the amplification mechanism are computationally carried out to predict the effect of different geometric parameters on the performance of the proposed mechanism. The analysis predicts that length and angle of flexure are the two key geometric parameters significantly affecting the amplification factor (AF), with length having a direct relationship and angle of flexure having an inverse relationship. A significant increase in the AF is seen for a flexure length up to 550 μm and angle below 5°. Based on the sensitivity analysis, the design is optimized, and geometric parameters are finalized. Modal analysis and dynamic simulations, including direct-integration transient and steady-state modal analysis, are performed on the mechanism under the application of 25 g. The mechanism can be integrated with any conventional actuating mechanism in a microsystem where the amplification of a small displacement at the output is desired.

Kinematic sensitivity analysis of the 3-UPU parallel mechanism

2002 ◽  
Vol 37 (8) ◽  
pp. 787-798 ◽  
Author(s):  
Chanhee Han ◽  
Jinwook Kim ◽  
Jongwon Kim ◽  
Frank Chongwoo Park
Keyword(s):  
Sensitivity Analysis ◽  
Parallel Mechanism ◽  
Kinematic Sensitivity
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