Design and testing of a novel multipath-actuation compliant manipulator

2021 ◽  
Vol 32 (2) ◽  
pp. 025004
Author(s):  
Xu Yang ◽  
Lichao Ji ◽  
Wule Zhu ◽  
Ying Shang ◽  
Shizhen Li
Keyword(s):  
Dynamic Performance ◽  
Large Displacement ◽  
Element Analysis ◽  
Static And Dynamic Characteristics ◽  
Amplification Ratio ◽  
Practical Applications ◽  
Directional Motion ◽  
Branched Chains ◽  
Design And Testing ◽  
The Ideal

Abstract In this paper, a novel multipath-actuation compliant manipulator (MCM) driven by piezoelectric actuators is proposed. Specifically, the monolithic MCM employs two vertically arranged compliant limbs with multipath motion transmission to actuate a symmetrically constrained planar mechanism, realizing x- and y-directional motion. For each limb, the multiple branched chains are configured in different paths but all contribute to the output motion, which results in a large displacement amplification ratio as well as a high working bandwidth. The ideal motion transmission of the proposed MCM is revealed by a specially established rigid-body kinematics model. Finite element analysis is carried out to predict the realistic static and dynamic performance of designed MCM. Moreover, a monolithic MCM prototype is fabricated, which is demonstrated to have a large displacement amplification ratio of 11.05, a high resonance frequency of 969 Hz, and a fine motion resolution of 25.48 nm. With promising static and dynamic characteristics, the proposed MCM can be widely used in practical applications.

scholarly journals Displacement amplification ratio modeling of bridge-type nano-positioners with input displacement loss

2019 ◽  
Vol 10 (1) ◽  
pp. 299-307
Author(s):  
Jinyin Li ◽  
Peng Yan ◽  
Jianming Li
Keyword(s):  
Experimental Testing ◽  
Elastic Beam ◽  
Beam Theory ◽  
Element Analysis ◽  
Compliance Matrix ◽  
Amplification Ratio ◽  
Practical Applications ◽  
Analysis And Design ◽  
Proposed Model ◽  
Bridge Type

Abstract. This paper presents an improved modeling method for bridge-type mechanism by taking the input displacement loss into consideration, and establishes an amplification ratio model of bridge-type mechanism according to compliance matrix method and elastic beam theory. Moreover, the amplification ratio of the designed bridge-type nano-positioner is obtained by taking the guiding mechanism as the external load of bridge-type mechanism. Comparing with existing methods, the proposed model is more accurate, which is further verified by finite element analysis(FEA) and experimental test. The consistency of the results obtained from theoretical model, FEA and experimental testing indicates that the proposed model can accurately predict the amplification characteristics of nano-positioners, which helps the analysis and design of bridge-type nano-positioners in practical applications.

scholarly journals Coulomb-actuated microbeams revisited: experimental and numerical modal decomposition of the saddle-node bifurcation

2021 ◽  
Vol 7 (1) ◽  
Author(s):  
Anton Melnikov ◽  
Hermann A. G. Schenk ◽  
Jorge M. Monsalve ◽  
Franziska Wall ◽  
Michael Stolz ◽  
...  
Keyword(s):  
Finite Element ◽  
Microelectromechanical Systems ◽  
Dynamic Range ◽  
Dynamic Performance ◽  
Major Step ◽  
Element Analysis ◽  
Electrostatic Actuators ◽  
Voltage Range ◽  
Drive Voltage ◽  
Depth Analysis

AbstractElectrostatic micromechanical actuators have numerous applications in science and technology. In many applications, they are operated in a narrow frequency range close to resonance and at a drive voltage of low variation. Recently, new applications, such as microelectromechanical systems (MEMS) microspeakers (µSpeakers), have emerged that require operation over a wide frequency and dynamic range. Simulating the dynamic performance under such circumstances is still highly cumbersome. State-of-the-art finite element analysis struggles with pull-in instability and does not deliver the necessary information about unstable equilibrium states accordingly. Convincing lumped-parameter models amenable to direct physical interpretation are missing. This inhibits the indispensable in-depth analysis of the dynamic stability of such systems. In this paper, we take a major step towards mending the situation. By combining the finite element method (FEM) with an arc-length solver, we obtain the full bifurcation diagram for electrostatic actuators based on prismatic Euler-Bernoulli beams. A subsequent modal analysis then shows that within very narrow error margins, it is exclusively the lowest Euler-Bernoulli eigenmode that dominates the beam physics over the entire relevant drive voltage range. An experiment directly recording the deflection profile of a MEMS microbeam is performed and confirms the numerical findings with astonishing precision. This enables modeling the system using a single spatial degree of freedom.

Finite Element Analysis and Optimization of Long-Span Gantry NC Machining Center Structure

2011 ◽  
Vol 346 ◽  
pp. 379-384
Author(s):  
Shu Bo Xu ◽  
Yang Xi ◽  
Cai Nian Jing ◽  
Ke Ke Sun
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Design Method ◽  
Dynamic Performance ◽  
Plate Thickness ◽  
Element Model ◽  
Wall Structure ◽  
Characteristic Analysis ◽  
Element Analysis ◽  
Dynamic Performance Analysis

The use of finite element theory and modal analysis theory, the structure of the machine static and dynamic performance analysis and prediction using optimal design method for optimization, the new machine to improve job performance, improve processing accuracy, shorten the development cycle and enhance the competitiveness of products is very important. Selected for three-dimensional CAD modeling software-UG NX4.0 and finite element analysis software-ANSYS to set up the structure of the beam finite element model, and then post on the overall structure of the static and dynamic characteristic analysis, on the basis of optimized static and dynamic performance is more superior double wall structure of the beam. And by changing the wall thickness and the thickness of the inner wall, as well as the reinforcement plate thickness overall sensitivity analysis shows that changes in these three parameters on the dynamic characteristics of post impact. Application of topology optimization methods, determine the optimal structure of the beam ultimately.

Analysis and Optimization of the Static and Dynamic Characteristics of Head Frame

2011 ◽  
Vol 418-420 ◽  
pp. 2055-2059 ◽  
Author(s):  
Yu Lin Wang ◽  
Na Jin ◽  
Kai Liao ◽  
Rui Jin Guo ◽  
Hu Tian Feng
Keyword(s):  
Machine Tool ◽  
Dynamic Characteristics ◽  
Maximum Stress ◽  
Dynamic Performance ◽  
Mode Shapes ◽  
Cnc Machine ◽  
Static And Dynamic Characteristics ◽  
Maximum Deformation ◽  
Improvement Measures ◽  
Optimal Measure

The head frame is a key component which plays a supportive and accommodative role in the spindle system of CNC machine tool. Improving the static and dynamic characteristics has profound significance to the development of machine tool and product performance. The simplified finite element modal is established with ANSYS to carry out the static and modal analysis. The results showed that the maximum deformation of the head frame was 0.0066mm, the maximum stress was 3.94Mpa, the deformation of most region was no more than 0.0007mm, which all verified that the head frame had a good stiffness and deforming resistance; several improvement measures for dynamic performance were also proposed by analyzing the mode shapes, and the 1st order natural frequency increased 7.33% while the head frame mass only increased 1.58% applying the optimal measure, which improved the dynamic characteristics of the head frame effectively.

Numerical Analysis of a Coupled Porous Journal and Thrust Bearing System

2005 ◽  
Vol 127 (1) ◽  
pp. 120-129 ◽  
Author(s):  
Takuji Kobayashi ◽  
Hiroshi Yabe
Keyword(s):  
Thrust Bearing ◽  
Dynamic Performance ◽  
Internal Flow ◽  
Disk Drive ◽  
Rotating Shaft ◽  
Static And Dynamic Characteristics ◽  
Bottom Face ◽  
Magnetic Hard Disk ◽  
Bearing System ◽  
Porous Sleeve

A numerical model has been developed to analyze both static and dynamic characteristics of a coupled porous journal and thrust bearing system that is used to support a rotating shaft in a magnetic hard disk drive. The analyzed system is composed of a porous sleeve, a herringbone-grooved solid thrust plate and a flanged shaft, where the bottom end is closed to form a cantilever spindle. The inner surface and the bottom face of the porous sleeve operate as a herringbone-grooved journal and thrust bearing, respectively. The model is based on the narrow groove theory for the bearing oil film, and Darcy’s law for the internal flow in the porous sleeve. The pressure distribution, static equilibrium position of the shaft and dynamic coefficients are obtained under a given external axial load. There exists a window of permeability of the porous sleeve that presents significant advantage to prevent the creation of a sub-ambient condition and to maintain a large thrust bearing film thickness at the expense of some loss of dynamic performance.

scholarly journals Design of a Novel Six-Axis Wrist Force Sensor

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 3120 ◽  
Author(s):  
Shanshan Hu ◽  
Huaiyang Wang ◽  
Yong Wang ◽  
Zhengshi Liu
Keyword(s):  
Simulation Analysis ◽  
Dynamic Performance ◽  
Force Sensor ◽  
The Novel ◽  
Element Analysis ◽  
Body Design ◽  
Design Idea ◽  
Bridge Circuits ◽  
Design Ideas ◽  
Better Than

A novel elastic body design idea of six-axis wrist force sensor with a floating beam was raised based on the analysis of the robot six-axis wrist force sensor with a floating beam. The design ideas improve the sensor’s dynamic performance significantly, while not reducing its sensitivity. First, the design ideas were described in detail, which were analyzed by mechanical modeling and were verified by finite element analysis. Second, the static simulation analysis of the novel elastomer of sensor was carried out. According to the strain distribution performance, the position of the strain gauges pasted and the connection mode of the full-bridge circuits were decided, which can achieve theoretical decoupling. Finally, the comparison between the static and dynamic performance of the novel sensor and the original sensor with floating beams was done. The results show that the static and dynamic performance of the novel six-axis wrist sensor are all better than the original sensor.

Finite Element Analysis of Automobile Drive Axle Housing Based on ANSYS

2015 ◽  
Vol 741 ◽  
pp. 223-226
Author(s):  
Hai Bin Li
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Dynamic Performance ◽  
Element Analysis ◽  
Shell Elements ◽  
Fea Model ◽  
Automobile Design ◽  
Housing Structure ◽  
Drive Axle ◽  
Drive Axle Housing

The performance of automobile drive axle housing structure affects whether the automobile design is successful or not. In this paper, the author built the FEA model of a automobile drive axle housing with shell elements by ANSYS. In order to building the optimization model of the automobile drive axle housing, the author studied the static and dynamic performance of it’s structure based on the model.

scholarly journals Accommodative Haptics Study Based on Flexible Amplification Mechanism

2020 ◽  
pp. 1-7
Author(s):  
Wenjing Wang ◽  
Qiuyue Du ◽  
Wenjing Chen ◽  
Bin Tian ◽  
Wenjing Wang
Keyword(s):  
Measurement Data ◽  
Theoretical Method ◽  
Structural Features ◽  
Stable Range ◽  
Element Analysis ◽  
Output Displacement ◽  
Amplification Ratio ◽  
Motion Trajectories ◽  
Bridge Type ◽  
Lens Power

In this study, we take the effect of the anterior movement of the optic into account and propose a novel haptic based on lever-type and bridge-type flexible amplification mechanisms. Based on the consideration of the offset of the rotation center of the flexible hinge, we have deduced the formula for calculating the amplification ratio of the proposed four-stage amplifier. The geometric parameters and the material property parameters, in terms of the clinical measurement data of the human eye, are assumed to restrain the structural features and motion trajectories for the amplifier. As the ciliary muscle achieves the contraction limit, the output displacement and amplification ratio reach the highest and lowest values, separately, and gradually approach a stable range. The amplification ratio of formula calculation and FEA (Finite Element Analysis) are around 18.86 and 17.79, respectively, with the input displacement ranging from 0.115mm to 0.127mm. The error of the amplification ratio between theoretical method and FEA is less than 5%. The presented haptic acting as a four-stage displacement amplifier, enables an improved lens power of 3.80 diopters to obtain much more focus shift to achieve a better near visual performance for patients.

scholarly journals Design of a Monolithic Double-Slider Based Compliant Gripper with Large Displacement and Anti-Buckling Ability

Micromachines ◽  
2019 ◽  
Vol 10 (10) ◽  
pp. 665 ◽  
Author(s):  
Hao ◽  
Zhu
Keyword(s):  
Virtual Work ◽  
Large Displacement ◽  
Amplification Coefficient ◽  
Element Analysis ◽  
Virtual Work Principle ◽  
Manipulation System ◽  
The Finite Element Analysis ◽  
Rigid Body Model ◽  
Analytical Relations ◽  
Kinematic Mechanism

In a micro-manipulation system, the compliant gripper is used for gripping, handling and assembling of objects. Large displacement and anti-buckling characteristics are desired in the design of the gripper. In this paper, a compliant gripper with these two characteristics is proposed, modelled and verified. The large displacement is enabled by using distributed compliance in a double-slider kinematic mechanism. An inverted flexure arrangement enables the anti-buckling of the gripper when closing the two jaws. A pseudo-rigid-body model (PRBM) method with the help of virtual work principle is employed to obtain several desired analytical relations including the amplification coefficient and kinetostatics. The results of the finite element analysis (FEA) are shown to be consistent with the results of the derived analytical model. An experimental test was carried out through a milling machined aluminium alloy prototype, the results of which verify the good performance of the compliant gripper.

Development and Analysis for a New Compliant XY Micropositioning Stage Applied for Nanoindentation Tester System

2019 ◽  
Vol 894 ◽  
pp. 60-71
Author(s):  
Minh Phung Dang ◽  
Thanh Phong Dao ◽  
Hieu Giang Le ◽  
Ngoc Thoai Tran
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Taguchi Method ◽  
Optimization Problems ◽  
High Reliability ◽  
Hybrid Approach ◽  
Element Analysis ◽  
Amplification Ratio ◽  
Design Variables ◽  
The Finite Element Analysis

A Compliant XY micropositioning stage is purported for situating a material sample in nanoindentation tester process. This paper aims to develop, analyze and optimize a XY compliant micropositioning stage. The working stroke of proposed XY stage is amplified by combining the four-lever and a bridge amplification mechanism. To enhance the performances of the stage, the main geometric parameters are optimized by an integration method of Taguchi method, response surface method (RSM) and genetic algorithm (GA). Firstly, static analysis and dynamic analysis are conducted by the finite element analysis in order to predict initial performances of the XY stage. Secondly, the number of experiments and the data are retrieved by combination of the finite element analysis-integrated Taguchi method. Thirdly, the effects of main design variables on the output response sensitivity are considered. Later on, mathematical model for the amplification ratio was established by the RSM. Finally, based on the mathematical equation, the GA is adopted to define the optimal design variables. The results of numerical validations are in a good agreement with the predicted results. The results depicted that the proposed hybrid approach ensures a high reliability for engineering optimization problems.

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