Generalized Spiral Spring: A Bioinspired Tunable Stiffness Mechanism for Linear Response With High Resolution

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Zeeshan Qaiser ◽  
Shane Johnson

Abstract Compliant mechanisms are typically designed for varying stiffness from nearly zero to rigid. However, targeted design for fine-tuning within an application's sensitive range of stiffness remains more desirable for practical implementation in accurate loading or positioning systems. To achieve various competing objectives, a “generalized spiral spring” (GSS) is proposed which achieves small size and other objectives by using a reduced number of parameters as provided by the spiral shape description of the components. An analytical model based on virtual work and curved beam theory is developed for accurate prediction of the stiffness. Moreover, finite element (FE) models are also developed for verification of the proposed designs. Multiobjective design optimization (MDO) is conducted to maximize the linearity in the stiffness versus control parameter (CP) response and improve resolution. The proposed analytical model is validated experimentally and computationally. This approach may be used to achieve finesse by accurate positioning with force control for industrial robots and elegant prostheses.

Author(s):  
Myles T. Christensen ◽  
Spencer P. Magleby ◽  
Larry L. Howell ◽  
Robert H. Todd ◽  
Clint Mortensen

This paper introduces a new configuration of a Continuously Variable Transmission (CVT) that is self-adjusting and designed as a compliant mechanism. This new configuration is called the Pivot-Arm CVT. The criteria for classification as a Pivot-Arm CVT is discussed. An analytical model describing the performance of the Pivot-Arm CVT is developed. Special design considerations which may be useful in implementing Pivot-Arm CVTs are introduced and explained. The Pivot-Arm CVT model is validated through controlled testing of two Pivot-Arm CVT prototypes.


2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Ren Yongsheng ◽  
Zhang Xingqi ◽  
Liu Yanghang ◽  
Chen Xiulong

The dynamical analysis of a rotating thin-walled composite shaft with internal damping is carried out analytically. The equations of motion are derived using the thin-walled composite beam theory and the principle of virtual work. The internal damping of shafts is introduced by adopting the multiscale damping analysis method. Galerkin’s method is used to discretize and solve the governing equations. Numerical study shows the effect of design parameters on the natural frequencies, critical rotating speeds, and instability thresholds of shafts.


Proceedings ◽  
2018 ◽  
Vol 2 (13) ◽  
pp. 1084
Author(s):  
Toky Rabenimanana ◽  
Vincent Walter ◽  
Najib Kacem ◽  
Patrice Le Moal ◽  
Joseph Lardiès

This paper presents a nonlinear analytical model of MEMS mass sensor, which is composed of two cantilevers of 98 µm and 100 µm length, 20 µm width and 1.3 µm thick. They are connected by a coupling beam and only the shortest cantilever is actuated by a combined AC-DC voltage. The DC voltage is used to equilibrate the system and the phenomenon of mode localization is investigated when a mass perturbation is applied. The sensor is modeled as a continuous system with beam theory and non-ideal boundary conditions are considered by using flexible supports. With a low AC voltage of 10 mV, a DC voltage of 5.85 V can counterbalance the length difference. This DC voltage decreases at 5.60 V when we increase the AC voltage, due to the effect of electrostatic nonlinearities. For a relative added mass of 0.1%, the amplitude change in the two cantilevers is more important when the coupling is weaker.


2012 ◽  
Vol 433-440 ◽  
pp. 41-44 ◽  
Author(s):  
Ming Hsu Tsai ◽  
Wen Yi Lin ◽  
Kuo Mo Hsiao ◽  
Fu Mio Fujii

The objective of this study is to investigate the deformed configuration and free vibration around the deformed configuration of clamped buckled beams by co-rotational finite element formulation. The principle of virtual work, d'Alembert principle and the consistent second order linearization of the nonlinear beam theory are used to derive the element equations in current element coordinates. The governing equations for linear vibration are obtained by the first order Taylor series expansion of the equation of motion at the static equilibrium position of the buckled beam. Numerical examples are studied to investigate the natural frequencies of clamped buckled beams with different slenderness ratios under different axial compression.


Author(s):  
Ankur M. Mehta ◽  
Kristofer S. J. Pister

This work examines the design of legs for a walking microrobot. The parameterized force-displacement relationships of planar serpentine flexure-based two degree-of-freedom legs are analyzed. An analytical model based on Euler-Bernoulli beam theory is developed to explore the design space, and is subsequently refined to include contact between adjacent beams. This is used to determine a successful leg geometry given dimensional constraints and actuator limitations. Standard comb drive actuators that output 100 μN of force over a 15 μm bi-directional throw are shown able to drive a walking gait with three legs on a 1 cm2 silicon die microrobot. If the comb drive suspensions cannot withstand the generated reaction moments, an alternate pivot-based leg linkage is proposed.


1982 ◽  
Vol 22 (05) ◽  
pp. 616-624 ◽  
Author(s):  
R.F. Mitchell

Abstract The equilibrium equations for a helically buckled tubing are developed and solved directly. The results show that the packer has a strong influence on the pitch of the helix, and that the pitch developed by the helix is different from the pitch calculated by conventional methods. In addition, the solution providesshear loads and bending moments at the packer andconstraining force exerted on the tubing by the exterior casing. This last result can be used to estimate friction effects on tubing buckling. Introduction The buckling behavior of well tuning and its effect on packer selection and installation have received much attention in the industry. The most well-known analysis of this problem is by Lubinski et al. Later analyses. such as by Hammerlindl, have extended and refined these results. There were two major contributions of this analysis:to clarity the roles of pressures, temperatures, fluid flow, pretension, and packer design in the buckling problem andto present a mechanical model of well buckling behavior that predicted the buckled well configuration as a function of applied loads. The principal results from this model were the motion of the tubing at the packer and the stresses developed in the tubing as a result of buckling. The major features of the conventional model of buckling behavior are summarized as follows.Slender beam theory is used to relate bending moment to curvature.The tubing is assumed to buckle into a helical shape.The principle of virtual work is used to relate applied buckling load to pitch of the helix.Friction between the buckled tubing and restraining casing is neglected. The geometry of the helix is described by three equations: (1) (2) and (3) where u1, u2, and u3 are tubing centerline locations in the x, y, and z coordinate directions, respectively; Theta is the angular coordinate (Fig. 1); r is the tubing-casing radial clearance: and P is pitch of the helix. The principle of virtual work relates P to the buckling force, F, through the following formula. (4) Several questions are not addressed by this analysis:What is the shape of the tubing from packer to fully developed helix?What are the resulting shear loads and moments at the packer caused by buckling?What are the forces exerted on the helically buckled tubing by the restraining casing? Solutions to Questions 2 and 3 would be particularly useful for evaluating friction effects on the tubing and the effect of induced loads on the packer elements. This information would allow better estimates of tubing movement and provide detailed load reactions at the packer for improved packer design. The solution to Question 1 could be particularly interesting because of its effect on results obtained by virtual work methods. SPEJ P. 616^


2012 ◽  
Vol 04 (01) ◽  
pp. 1250010 ◽  
Author(s):  
V. P. VALLALA ◽  
G. S. PAYETTE ◽  
J. N. REDDY

In this paper, a finite element model for efficient nonlinear analysis of the mechanical response of viscoelastic beams is presented. The principle of virtual work is utilized in conjunction with the third-order beam theory to develop displacement-based, weak-form Galerkin finite element model for both quasi-static and fully-transient analysis. The displacement field is assumed such that the third-order beam theory admits C0 Lagrange interpolation of all dependent variables and the constitutive equation can be that of an isotropic material. Also, higher-order interpolation functions of spectral/hp type are employed to efficiently eliminate numerical locking. The mechanical properties are considered to be linear viscoelastic while the beam may undergo von Kármán nonlinear geometric deformations. The constitutive equations are modeled using Prony exponential series with general n-parameter Kelvin chain as its mechanical analogy for quasi-static cases and a simple two-element Maxwell model for dynamic cases. The fully discretized finite element equations are obtained by approximating the convolution integrals from the viscous part of the constitutive relations using a trapezoidal rule. A two-point recurrence scheme is developed that uses the approximation of relaxation moduli with Prony series. This necessitates the data storage for only the last time step and not for the entire deformation history.


Author(s):  
Mzaki Dakel ◽  
Sébastien Baguet ◽  
Régis Dufour

In ship and aircraft turbine rotors, the rotating mass unbalance and the different movements of the rotor base are among the main causes of vibrations in bending. The goal of this paper is to investigate the dynamic behavior of an on-board rotor under rigid base excitations. The modeling takes into consideration six types of base deterministic motions (rotations and translations) when the kinetic and strain energies in addition to the virtual work of the rotating flexible rotor components are computed. The finite element method is used in the rotor modeling by employing the Timoshenko beam theory. The proposed on-board rotor model takes into account the rotary inertia, the gyroscopic inertia, the shear deformation of shaft as well as the geometric asymmetry of shaft and/or rigid disk. The Lagrange’s equations are applied to establish the differential equations of the rotor in bending with respect to the rigid base which represents a noninertial reference frame. The linear equations of motion display periodic parametric coefficients due to the asymmetry of the rotor and time-varying parametric coefficients due to the base rotational motions. In the proposed applications, the rotor mounted on rigid/elastic bearings is excited by a rotating mass unbalance associated with sinusoidal vibrations of the rigid base. The dynamic behavior of the rotor is analyzed by means of orbits of the rotor as well as fast Fourier transforms (FFTs).


2013 ◽  
Vol 5 (4) ◽  
Author(s):  
Dana E. Vogtmann ◽  
Satyandra K. Gupta ◽  
Sarah Bergbreiter

Accurate analysis models are critical for effectively utilizing elastomeric joints in miniature compliant mechanisms. This paper presents work toward the characterization and modeling of miniature elastomeric hinges. Characterization was carried out in the form of several experimental bending tests and tension tests on representative hinges in five different configurations. The modeling portion is achieved using a planar pseudo rigid body (PRB) analytical model for these hinges. A simplified planar 3-spring PRB analytical model was developed, consisting of a torsional spring, an axial spring, and another torsional spring in series. These analytical models enable the efficient exploration of large design spaces. The analytical model has been verified to within an accuracy of 3% error in pure bending, and 7% in pure tension, when compared to finite element analysis (FEA) models. Using this analytical model, a complete mechanism—a robotic leg consisting of four rigid links and four compliant hinges—has been analyzed and compared to a corresponding FEA model and a fabricated mechanism.


Author(s):  
Chinmaya B. Patil ◽  
S. V. Sreenivasan ◽  
Raul G. Longoria

Flexure-based compliant mechanisms are the preferred motion guiding systems for small range, nano-precision positioning applications because of excellent characteristics like friction-free continuous motion. These mechanisms are commonly used in nano fabrication equipment and ultra precision instruments. However, machining imperfections induced geometric errors in the mechanisms are known to cause undesirable parasitic motion and significant loss of precision. A systematic design approach to minimize the sensitivity of the flexure mechanisms to geometric errors induced by machining tolerances is presented here. Central to the design approach is the screw systems based analytical model to study the spatial motion characteristics of flexure mechanisms. Using this model, the parasitic motion is classified into those errors which can be corrected by calibration (extrinsic) and those which are coupled with the mechanism motion and cannot be corrected by apriori calibration (intrinsic). Metric to quantify the intrinsic parasitic motion results naturally from the screw systems analysis, and is used to represent the precision capability of the flexure mechanism. The analytical model enables the selection of geometric parameters of flexure joints of the mechanism via an optimization scheme with the aim of minimizing the parasitic motion metric. The statistical nature of the machining tolerances is accounted for by sampling the random variables at every iteration step of the optimization, leading to a stochastic formulation. The robust design approach is illustrated using a one DOF rotational flexure mechanism that is used in nano-imprint lithography equipment. Numerical results of the optimization indicate up to 40% improvement in the precision capability of the mechanism without any change in the manufacturing tolerance limits. Further, it is shown via eigenscrew analysis of mechanism compliance that the robustness resulting from the optimal flexure joint design can be attributed to the improved compliance distribution.


Sign in / Sign up

Export Citation Format

Share Document