Design of a Reconfigurable, Monolithic Compliant Mechanism for a Six-Axis Nanomanipulator

2004 ◽  
Author(s):  
Martin L. Culpepper ◽  
Soohyung Kim
Keyword(s):  
Natural Frequencies ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Design Tool ◽  
Performance Characteristics ◽  
Mode Shapes ◽  
Dynamic Mode ◽  
High Bandwidth ◽  
Fea Simulation ◽  
Compliant Mechanism Design

In general, compliant mechanisms are single-state devices, meaning there is a one-to-one relationship between the inputs (actuation) and outputs (mechanism motion). This is particularly troublesome in precision mechanisms which offer limited flexibility in performance characteristics for high cost. In this paper we demonstrate a method which was proposed in earlier work (2002) to make a six-axis compliant mechanism with reconfigurable performance characteristics. The mechanism was synthesized using CoMeT, a compliant mechanism design tool, and optimized via FEA simulation. Experimental results show that (1) mechanism transmission ratio can be reconfigured between negative and positive numbers (2) that dynamic mode shapes may be changed and (3) that natural frequencies may be independently reconfigured. A means to handle the competing material requirements of large range and high-bandwidth is briefly presented.

Piezoelectric Actuator Performance Metrics and Relation to Compliant Mechanism Design

2001 ◽  
Author(s):  
Hima Maddisetty ◽  
Mary Frecker
Keyword(s):  
Topology Optimization ◽  
Performance Metrics ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Mechanical Efficiency ◽  
High Energy ◽  
High Energy Density ◽  
High Bandwidth ◽  
Compliant Mechanism Design ◽  
Actuator Performance

Abstract Piezoceramic actuators have gained widespread use due to their desirable qualities of high force, high bandwidth, and high energy density. Compliant mechanisms can be designed for maximum stroke amplification of piezoceramic actuators using topology optimization. In this paper, the mechanical efficiency and other performance metrics of such compliant mechanism/actuator systems are studied. Various definitions of efficiency and other performance metrics of actuators with amplification mechanisms from the literature are reviewed. These metrics are then applied to two compliant mechanism example problems and the effect of the stiffness of the external load is investigated.

Modal Analysis of Magnetic Resonance Imaging (MRI) Scanner Support Structure

2018 ◽  
Author(s):  
Geneviève Rodrigue ◽  
Chris K. Mechefske
Keyword(s):  
Modal Analysis ◽  
Vibration Isolation ◽  
Natural Frequencies ◽  
Design Tool ◽  
Mode Shapes ◽  
Resonance Imaging ◽  
Support Structure ◽  
Analysis And Design ◽  
Passive Vibration Isolation ◽  
Magnetic Resonance Imaging Mri

Experimental and computational modal analysis has been completed as part of a larger project with the ultimate goal of understanding MRI vibration and implementing passive vibration isolation in the MRI machine support structure. The specific purpose of the modal analysis is to extract natural frequencies (eigenvalues) and mode shapes (eigenvectors) of the MRI support structure in order to validate the computational model of the base against the experimental results so that the former may be used as an analysis and design tool. From the model, the resonance points of the MRI support structure are determined within the expected frequency ranges of excitation.

A Well-Behaved Revolute Flexure Joint for Compliant Mechanism Design

1999 ◽  
Vol 121 (3) ◽  
pp. 424-429 ◽  
Author(s):  
M. Goldfarb ◽  
J. E. Speich
Keyword(s):  
Mechanism Design ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Bending Properties ◽  
Thin Beam ◽  
Primary Mechanism ◽  
Joint Characteristics ◽  
Flexure Joints ◽  
Compliant Mechanism Design ◽  
Torsional Properties

This paper describes the design of a unique revolute flexure joint, called a split-tube flexure, that enables (lumped compliance) compliant mechanism design with a considerably larger range-of-motion than a conventional thin beam flexure, and additionally provides significantly better multi-axis revolute joint characteristics. Conventional flexure joints utilize bending as the primary mechanism of deformation. In contrast, the split-tube flexure joint incorporates torsion as the primary mode of deformation, and contrasts the torsional properties of a thin-walled open-section member with the bending properties of that member to obtain desirable joint behavior. The development of this joint enables the development of compliant mechanisms that are quite compliant along kinematic axes, extremely stiff along structural axes, and are capable of kinematically well-behaved large motions.

Dynamic Modeling and Optimal Design of a 2R Compliant Mechanism

2017 ◽  
Author(s):  
Wenshuo Ma ◽  
Yan Xie ◽  
Jingjun Yu ◽  
Xu Pei
Keyword(s):  
Optimal Design ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Dynamic Characteristics ◽  
Natural Frequencies ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Dynamic Performance ◽  
Dynamic Problems ◽  
Numerical Result

Dynamic performance is of great importance to compliant mechanisms which are employed in dynamic applications, especially if the dynamic problems in DOC (degree of constraint) directions are to be met. An investigation on the dynamic characteristics of a 2R compliant mechanism is presented. Based on the substructure techniques, the in-plane dynamic model of the preceding compliant mechanisms is developed. The natural frequencies and sensitivities are then analyzed. The numerical result verifies the validity of the proposed method. Finally, optimal design of compliant mechanism is investigated.

Utilizing a Classification Scheme to Facilitate Rigid-Body Replacement for Compliant Mechanism Design

2010 ◽  
Author(s):  
Brian M. Olsen ◽  
Yanal Issac ◽  
Larry L. Howell ◽  
Spencer P. Magleby
Keyword(s):  
Rigid Body ◽  
Mechanism Design ◽  
Classification Scheme ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
The Other ◽  
Design Approach ◽  
Compliant Mechanism Design

The knowledge related to the synthesis and analysis of compliant mechanisms continues to grow and mature. Building on this growth, a classification scheme has been established to categorize compliant elements and mechanisms in a manner that engineers can incorporate compliance into their designs. This paper demonstrates a design approach engineers can use to convert an existing rigid-body mechanism into a compliant mechanism by using an established classification scheme. This approach proposes two possible techniques that use rigid-body replacement synthesis in conjunction with a compliant mechanism classification scheme. One technique replaces rigid-body elements with a respective compliant element. The other technique replaces a complex rigid-body mechanism by decomposing the mechanism into simpler functions and then replacing a respective rigid-body mechanism with a compliant mechanism that has a similar functionality.

Hybrid Compliant Mechanism Design Using a Mixed Mesh of Flexure Hinge Elements and Beam Elements Through Topology Optimization

2015 ◽  
Vol 137 (9) ◽  
Author(s):  
Lin Cao ◽  
Allan T. Dolovich ◽  
Wenjun (Chris) Zhang
Keyword(s):  
Topology Optimization ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Optimization Technique ◽  
Flexure Hinge ◽  
Beam Elements ◽  
Flexure Hinges ◽  
New Type ◽  
Meshing Scheme ◽  
Compliant Mechanism Design

This paper proposes a topology optimization framework to design compliant mechanisms with a mixed mesh of both beams and flexure hinges for the design domain. Further, a new type of finite element, i.e., super flexure hinge element, was developed to model flexure hinges. Then, an investigation into the effects of the location and size of a flexure hinge in a compliant lever explains why the point-flexure problem often occurs in the resulting design via topology optimization. Two design examples were presented to verify the proposed technique. The effects of link widths and hinge radii were also investigated. The results demonstrated that the proposed meshing scheme and topology optimization technique facilitate the rational decision on the locations and sizes of beams and flexure hinges in compliant mechanisms.

scholarly journals DAS-2D: a concept design tool for compliant mechanisms

2016 ◽  
Vol 7 (2) ◽  
pp. 135-148 ◽  
Author(s):  
Omer Anil Turkkan ◽  
Hai-Jun Su
Keyword(s):  
Rigid Body ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Design Tool ◽  
Concept Design ◽  
Simulation Tools ◽  
Element Simulation ◽  
Mechanism Research ◽  
Analysis And Synthesis ◽  
Engineering Practices

Abstract. Compliant mechanisms utilize the deformation of the elastic members to achieve the desired motion. Currently, design and analysis of compliant mechanisms rely on several commercial dynamics and finite element simulation tools. However, these tools do not implement the most recently developed theories in compliant mechanism research. In this article, we present DAS-2D (Design, Analysis and Synthesis), a conceptual design tool which integrates the recently developed pseudo-rigid-body models and kinetostatic analysis/synthesis theories for compliant mechanisms. Coded in Matlab, the software features a kinematic solver for general rigid-body mechanisms, a kinetostatic solver for compliant mechanisms and a fully interactive graphical user interface. The implementation details of all modules of the program are presented and demonstrated with four different case studies. This tool can be beneficial to classroom teaching as well as engineering practices in design of compliant mechanisms.

Shape Optimization Framework for the Path of the Primary Compliance Vector in Compliant Mechanisms

2020 ◽  
Vol 12 (6) ◽  
Author(s):  
Hylke Kooistra ◽  
Charles J. Kim ◽  
Werner W. P. J. van de Sande ◽  
Just L. Herder
Keyword(s):  
Mechanism Design ◽  
Deformation Mechanism ◽  
General Framework ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Optimization Framework ◽  
Kinematic Behavior ◽  
Curve Representation ◽  
Compliant Mechanism Design ◽  
Load Perturbations

Abstract The primary compliance vector (PCV) captures the dominant kinematic behavior of a compliant mechanism. Its trajectory describes large deformation mechanism behavior and can be integrated in an optimization objective in detailed compliant mechanism design. This paper presents a general framework for the optimization of the PCV path, the mechanism trajectory of lowest energy, using a unified stiffness characterization and piecewise curve representation. We present a meaningful objective formulation for the PCV path that evaluates path shape, location, orientation, and length independently and apply the framework to two design examples. The framework is useful for design of planar and shell compliant mechanisms that traverse a specified mechanism trajectory and that are insensitive to load perturbations.

A Compliant Mechanism Design Methodology for Coupled and Uncoupled Systems, and Governing Free Choice Selection Considerations

2004 ◽  
Author(s):  
Ashok Midha ◽  
Yuvaraj Annamalai ◽  
Sharath K. Kolachalam
Keyword(s):  
Rigid Body ◽  
Design Methodology ◽  
Free Choice ◽  
Compliant Mechanisms ◽  
State Of The Art ◽  
Compliant Mechanism ◽  
Mechanism Synthesis ◽  
Strongly Coupled ◽  
Revolute Joints ◽  
Compliant Mechanism Design

Compliant mechanisms are defined as mechanisms that gain some, or all of their mobility from the flexibility of their members. Suitable use of pseudo-rigid-body models for compliant segments, and relying on the state-of-the-art knowledge of rigid-body mechanism synthesis types, greatly simplifies the design of compliant mechanisms. Assuming a pseudo-rigid-body four-bar mechanism, with one to four torsional springs located at the revolute joints to represent mechanism compliance, a simple, heuristic approach is provided to develop various compliant mechanism types. The synthesis with compliance method is used for three, four and five precision positions, with consideration of one to four torsional springs, to systematically develop design tables for standard mechanism synthesis types. These tables appropriately reflect the mechanism compliance by specification of either energy or torque. Examples are presented to demonstrate the use of weakly or strongly coupled sets of kinematic and energy/torque equations, as well as different compliant mechanism types in obtaining solutions.

A Methodology for Determining Static Mode Shapes of a Compliant Mechanism Using the Pseudo-Rigid-Body Model (PRBM) Concept and the Degrees-of-Freedom Analysis

2019 ◽  
Author(s):  
Sushrut G. Bapat ◽  
Pratheek Bagivalu Prasanna ◽  
Ashok Midha
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Mode Shapes ◽  
Model Concept ◽  
Static Mode ◽  
Displacement Boundary ◽  
Body Model ◽  
Rigid Body Model

Abstract Traditionally, the deflected configuration of compliant segments is determined through rigorous mathematical analysis using Newtonian mechanics. Application of these principles in evaluating the deformed configuration of compliant mechanisms, containing a variety of segment types, becomes cumbersome. This paper introduces a methodology to determine the expected deflected configuration(s) of a compliant mechanism, for a given set of load and/or displacement boundary conditions. The method utilizes the principle of minimum total potential energy, in conjunction with the degrees-of-freedom analysis and the pseudo-rigid-body model concept. The static mode shape(s) of compliant segments are integrated in identifying the possible functional configuration(s) of a given compliant mechanism’s structural configuration. The methodology, in turn, also facilitates the in situ determination of the deformed configuration of the constituent compliant segments. It thus assists in the identification of an appropriate pseudo-rigid-body model for design and analysis of a compliant mechanism.

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