Relevant bibliographies by topics / Compliant mechanism, Bistable mechanism, Four-bar mechanism, Pseudo-rigid-body model

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Conference papers

Academic literature on the topic 'Compliant mechanism, Bistable mechanism, Four-bar mechanism, Pseudo-rigid-body model'

Author: Grafiati
Published: 4 June 2021
Last updated: 3 February 2022

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Journal articles on the topic "Compliant mechanism, Bistable mechanism, Four-bar mechanism, Pseudo-rigid-body model"

1

Masters, Nathan D., and Larry L. Howell. "A Three Degree-of-Freedom Model for Self-Retracting Fully Compliant Bistable Micromechanisms." Journal of Mechanical Design 127, no. 4 (2005): 739–44. http://dx.doi.org/10.1115/1.1828463.

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A three degree-of-freedom (3DOF) pseudo-rigid-body model (PRBM) has been developed and used in the design of a new class of self-retracting fully compliant bistable micromechanism (SRFBM). The SRFBM provides small-displacement linear travel bistability and is suitable for low-power microswitching applications. The design process involved a combination of single and multiple degree-of-freedom PRBM and finite element models to quickly proceed from a concept rigid-body mechanism to fully compliant fabrication-ready geometry. The 3DOF model presented here was developed to more accurately model the behavior of the tensural pivots—a new class of compliant segment used to avoid combined compressive loading of flexible segments. Four SRFBM designs were fabricated and tested for bistability, on-chip actuation, critical force, and fatigue tests. These tests validate the models used in the design process and demonstrate the functionality and reliability of the SRFBM.
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Jensen, Brian D., and Larry L. Howell. "Identification of Compliant Pseudo-Rigid-Body Four-Link Mechanism Configurations Resulting in Bistable Behavior." Journal of Mechanical Design 125, no. 4 (2003): 701–8. http://dx.doi.org/10.1115/1.1625399.

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Bistable mechanisms, which have two stable equilibria within their range of motion, are important parts of a wide variety of systems, such as closures, valves, switches, and clasps. Compliant bistable mechanisms present design challenges because the mechanism’s energy storage and motion characteristics are strongly coupled and must be considered simultaneously. This paper studies compliant bistable mechanisms which may be modeled as four-link mechanisms with a torsional spring at one joint. Theory is developed to predict compliant and rigid-body mechanism configurations which guarantee bistable behavior. With this knowledge, designers can largely uncouple the motion and energy storage requirements of a bistable mechanism design problem. Examples demonstrate the power of the theory in bistable mechanism design.
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Deshmukh, Bhagyesh, Sujit Pardeshi, Roohshad Mistry, Sachin Kandharkar, and Santosh Wagh. "Development of a Four Bar Compliant Mechanism using Pseudo Rigid Body Model (PRBM)." Procedia Materials Science 6 (2014): 1034–39. http://dx.doi.org/10.1016/j.mspro.2014.07.174.

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Lyon, S. M., P. A. Erickson, M. S. Evans, and L. L. Howell. "Prediction of the First Modal Frequency of Compliant Mechanisms Using the Pseudo-Rigid-Body Model." Journal of Mechanical Design 121, no. 2 (1999): 309–13. http://dx.doi.org/10.1115/1.2829459.

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The pseudo-rigid-body modeling technique is used to simplify the nonlinear analysis of compliant mechanisms. This paper presents the first work that investigates the possibility of using the pseudo-rigid-body model to predict the first modal response of compliant mechanisms. Four different configurations of the parallel-guiding mechanism are modeled and tested, as well as two configurations of compliant straight-line mechanisms. The model predictions of the first natural frequencies were compared with experimental results for all six mechanism configurations. The model predictions are within 9 percent of the experimental results for all cases.
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Uyulan, Çağlar, and Batuhan İpek. "Watt Six-Bar Compliant Mechanism Analysis Based on Kinematic and Dynamic Responses." Scientific Research Communications 1, no. 1 (2021): 1–25. http://dx.doi.org/10.52460/src.2021.002.

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In this study, a complete guide to kinematic and kinetic analyses of a Watt type six-bar compliant mechanism is conducted incorporating the flexible buckling of the initially straight element. In the analysis procedure, the hybrid utilization of the pseudo-rigid-body model (PRBM) and the nonlinear elastic theory of beam buckling is presented. This partially compliant mechanism comprises three rigid links and two flexible links. The kinematic analyses of the mechanisms are done by using the vector loop closure equations, the PRBM of a large deflection cantilever beam, and derivation of nonlinear algebraic equations considering the quasi-static equilibrium and load-deflection curve of the flexible parts. Each of the elastic parts makes up a buckling pinned-pinned flexible Euler beam. The vector loop equations are combined with Newton-Euler dynamic formulations to provide the simultaneous constraint matrix. After these operations, the full mechanism is simulated to get both accelerations and forces for each time step. Finally, the design method is validated through experimental results. The findings derived from the combination of buckling elastica solution and PRBM approach enable the analysis of Watt's six-bar compliant mechanism.
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Bandopadhya, Dibakar, Bishakh Bhattacharya, and Ashish Dutta. "Pseudo-rigid Body Modeling of IPMC for a Partially Compliant Four-bar Mechanism for Work Volume Generation." Journal of Intelligent Material Systems and Structures 20, no. 1 (2008): 51–61. http://dx.doi.org/10.1177/1045389x08088784.

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Jensen, B. D., L. L. Howell, and L. G. Salmon. "Design of Two-Link, In-Plane, Bistable Compliant Micro-Mechanisms." Journal of Mechanical Design 121, no. 3 (1999): 416–23. http://dx.doi.org/10.1115/1.2829477.

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A bistable mechanism has two stable states within its range of motion. Its advantages include the ability to stay in two positions without power input and despite small external disturbances. Therefore, bistable micro-mechanisms could allow the creation of MEMS with improved energy efficiency and positioning accuracy. This paper presents bistable micro-mechanisms which function within the plane of fabrication. These bistable mechanisms, called “Young” bistable mechanisms, obtain their energy storage characteristics from the deflection of two compliant members. They have two pin joints connected to the substrate, and can be constructed of two layers of polysilicon. The pseudo-rigid-body model is used to analyze and design these mechanisms. This approach allows greater freedom and flexibility in the design process. The mechanisms were fabricated and tested to demonstrate their bistable behavior and to determine the repeatability of their stable positions.
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Lin, Song, Yu Zhang, Hanchao Wang, Jingyu Jiang, and Niels Modler. "Geometric synthesis method of compliant mechanism based on similarity transformation of pole maps." Mechanical Sciences 12, no. 1 (2021): 375–91. http://dx.doi.org/10.5194/ms-12-375-2021.

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Abstract. This paper presents a geometric synthesis method for compliant mechanisms based on similarity transformation of pole maps. Motion generation is a typical and common mechanism synthesis task, so this study takes it as the design requirement to expound the proposed method. Most of the current research work relies on numerical solution of the nonlinear Bernoulli–Euler beam model, numerical simulations or physical experiments to study the synthesis method of compliant mechanisms. There is a lack of simpler and more efficient methods to achieve motion generation of compliant mechanisms with various topologies. This study is based on pole map which is a geometric tool to describe the motion of rigid-body mechanisms. In this paper, we first demonstrate the feasibility of applying the similarity transformation of pole map to compliant mechanisms. It is proved that the pole map of compliant mechanisms has the same characteristic as rigid-body mechanisms during similarity transformation. Then we present the procedure of synthesis method in detail and expound the establishment method of function module which can avoid the functional defects of the final designed mechanism. At last, we take the compliant geared linkages and compliant four-bar linkage as examples to illustrate the novel synthesis approach. The result is an applicable and effective synthesis method for motion generation of compliant mechanisms.
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Greenberg, H. C., M. L. Gong, S. P. Magleby, and L. L. Howell. "Identifying links between origami and compliant mechanisms." Mechanical Sciences 2, no. 2 (2011): 217–25. http://dx.doi.org/10.5194/ms-2-217-2011.

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Abstract. Origami is the art of folding paper. In the context of engineering, orimimetics is the application of folding to solve problems. Kinetic origami behavior can be modeled with the pseudo-rigid-body model since the origami are compliant mechanisms. These compliant mechanisms, when having a flat initial state and motion emerging out of the fabrication plane, are classified as lamina emergent mechanisms (LEMs). To demonstrate the feasibility of identifying links between origami and compliant mechanism analysis and design methods, four flat folding paper mechanisms are presented with their corresponding kinematic and graph models. Principles from graph theory are used to abstract the mechanisms to show them as coupled, or inter-connected, mechanisms. It is anticipated that this work lays a foundation for exploring methods for LEM synthesis based on the analogy between flat-folding origami models and linkage assembly.
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Kim, Charles J., Sridhar Kota, and Yong-Mo Moon. "An Instant Center Approach Toward the Conceptual Design of Compliant Mechanisms." Journal of Mechanical Design 128, no. 3 (2005): 542–50. http://dx.doi.org/10.1115/1.2181992.

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As with conventional mechanisms, the conceptual design of compliant mechanisms is a blend of art and science. It is generally performed using one of two methods: topology optimization or the pseudo-rigid-body model. In this paper, we present a new conceptual design methodology which utilizes a building block approach for compliant mechanisms performing displacement amplification/attenuation. This approach provides an interactive, intuitive, and systematic methodology for generating initial compliant mechanism designs. The instant center is used as a tool to construct the building blocks. The compliant four-bar building block and the compliant dyad building block are presented as base mechanisms for the conceptual design. It is found that it is always possible to obtain a solution for the geometric advantage problem with an appropriate combination of these building blocks. In a building block synthesis, a problem is first evaluated to determine if any known building blocks can satisfy the design specifications. If there are none, the problem is decomposed to a number of sub-problems which may be solved with the building blocks. In this paper, the problem is decomposed by selecting a point in the design space where the output of the first building block coincides with the second building block. Two quantities are presented as tools to aid in the determination of the mechanism's geometry – (i) an index relating the geometric advantage of individual building blocks to the target geometric advantage and (ii) the error in the geometric advantage predicted by instant centers compared to the calculated value from FEA. These quantities guide the user in the selection of the location of nodes of the mechanism. Determination of specific cross-sectional size is reserved for subsequent optimization. An example problem is provided to demonstrate the methodology's capacity to obtain good initial designs in a straightforward manner. A size and geometry optimization is performed to demonstrate the viability of the design.
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Dissertations / Theses on the topic "Compliant mechanism, Bistable mechanism, Four-bar mechanism, Pseudo-rigid-body model"

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Subasi, Levent. "Synthesis Of Compliant Bistable Four-link Mechanisms For Two Positions." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12606736/index.pdf.

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The aim of this study is to present a design approach for compliant bistable four-link mechanisms. The design constraints are the two positions of the mechanism, the force required to snap between the positions and the fatigue life of the designed mechanism. The theory presented here will be applied to the door lock mechanism used in commercial dishwashers, which is originally designed as a rigid inverted slider crank mechanism snapping between two positions with the force applied by a spring. The mechanism is re-designed as a compliant bistable four-link mechanism and a prototype has been manufactured.
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Alqasimi, Ahmad. "Design Of Shape Morphing Structures Using Bistable Elements." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5897.

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This dissertation presents new concepts and methodology in designing shape-morphing structures using bistable elements. Developed using the Pseudo-Rigid-Body Model (PRBM), linear bistable compliant mechanism elements produce predictable and controllable length changes. Step-by-step design procedures are developed to guide the design process of these bistable elements. Two different examples of Shape-Morphing Space Frames (SMSFs) were designed and prototyped utilizing the bistable linear elements in a single-layer grid, in addition to flexures and rigid links, to morph a cylindrical space frame into both a hyperbolic and a spherical space frame. Moreover, bistable unit-cell compliant-mechanism elements were also developed to morph a compact structure from a specific initial shape to a final specific shape. The detailed design of those unit cells were done using Computer-aided design (CAD) software following a novel design procedure to transform a one-degree-of-freedom mechanism into a structure with sufficient compliance within its links to toggle between two chosen stable positions. Two different design examples were investigated in this research and prototyped to demonstrate the ability to morph disks into a hemisphere or a sphere with the structure being stable in both states (disk and sphere).
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Muñoz, Aaron A. "Developments Toward a Micro Bistable Aerial Platform: Analysis of the Quadrantal Bistable Mechanism." Scholar Commons, 2008. https://scholarcommons.usf.edu/etd/419.

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The Bistable Aerial Platform (BAP) has been developed in order to further enlarge the repertoire of devices available at the microscale. This novel device functions as a switch in that its platform can lock in two positions, up or down. Herein, it will be examined and explained, but a true understanding of its workings requires a better understanding of its compliant constituent parts. The Helico-Kinematic Platform (HKP), which serves as an actuator for the BAP, is currently under investigation by another researcher and will be merely touched upon here. The focus, therefore, will rest on the analysis of the Quadrantal Bistable Mechanism (QBM), the principle component of the BAP. A preliminary pseudo-rigid-body model, an aid for the understanding of compliant mechanisms, will also be examined for the QBM. The models developed for these two devices, the HKP and QBM, can later be combined to form a full model of the Bistable Aerial Platform.
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Unverdi, Uygar. "Design Of A Compliant Bistable Lock Mechanism For A Dishwasher Using Functionally Binary Initially Curved Pinned-pinned Segments." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614347/index.pdf.

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The aim of this study is to design a compliant lock mechanism for a dishwasher, using a systematic approach. Functionally binary pinned-pinned segment that exhibits bistable behavior is utilized. Pseudo-rigid-body model of the whole mechanism and the half segment is developed separately and the corresponding calculations are carried out. Among current solutions a different method namely &ldquo<br>arc fitting method&rdquo<br>is developed and it is utilized to construct the model. A software code is written to get the exact solutions, which require the evaluation of elliptic integrals. Results are compared with the analytical model and confirmed with physical prototype. Predefined tip forces are seen to provide the transition from one stable position to other. Durability, reliability and compactness characteristics are particularly considered.
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Mahler, Sebastian. "Compliant pediatric prosthetic knee." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002278.

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Winder, Brian Geoffrey. "Achieving Complex Motion with Fundamental Components for Lamina Emergent Mechanisms." Diss., CLICK HERE for online access, 2008. http://contentdm.lib.byu.edu/ETD/image/etd2279.pdf.

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Conference papers on the topic "Compliant mechanism, Bistable mechanism, Four-bar mechanism, Pseudo-rigid-body model"

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Mavanthoor, Adarsh, and Ashok Midha. "Bistable Compliant Four-Bar Mechanisms With a Single Torsional Spring." In ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2006. http://dx.doi.org/10.1115/detc2006-99453.

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Significant reduction in cost and time of bistable mechanism design can be achieved by understanding their bistable behavior. This paper presents bistable compliant mechanisms whose pseudo-rigid-body models (PRBM) are four-bar mechanisms with a torsional spring. Stable and unstable equilibrium positions are calculated for such four-bar mechanisms, defining their bistable behavior for all possible permutations of torsional spring locations. Finite Element Analysis (FEA) and simulation is used to illustrate the bistable behavior of a compliant mechanism with a straight compliant member, using stored energy plots. These results, along with the four-bar and the compliant mechanism information, can then be used to design a bistable compliant mechanism to meet specified requirements.
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Zhou, Lifeng, Alexander E. Marras, Carlos E. Castro, and Hai-jun Su. "Pseudo-Rigid-Body Models of Compliant DNA Origami Mechanisms." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46838.

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In this paper, we introduce the strategy of designing and analyzing compliant nanomechanisms fabricated with DNA origami which we call compliant DNA origami mechanism (CDOM). The rigid, compliant and flexible parts are constructed by a bunch of double-stranded DNA (dsDNA) helices, fewer dsDNA helices and single-stranded DNA (ssDNA) strands respectively. Just like in macroscopic compliant mechanisms, a CDOM generates its motion via deformation of at least one structural member. During the motion, strain energy is stored and released in the mechanism. These CDOM can suppress thermal fluctuations due to the internal mechanical energy barrier for motion. An example of compliant hinge joint and a bistable four-bar CDOM fabricated with DNA origami are discussed at the end of this paper. The classic pseudo-rigid-body (PRB) model for compliant mechanism is successfully employed to the analysis of these DNA origami nanomechanisms. This PRB model has been used to guide the design of a bistable CDOM for a desired energy landscape.
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Landon, Steven D., Spencer P. Magleby, and Brian D. Jensen. "A Compliant Rotating Joint for Deployable Wings on Small UAVs." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35821.

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Recent interest in small Unmanned Air Vehicles (UAVs) has led to advances in wing technologies. Deployable wings reduce required storage space while providing greater range during flight. This paper presents a compliant rotating joint which is bistable and features a locking characteristic that prevents the wing from reverting back to the undeployed configuration during flight. The two stable positions occur at local strain energy minima about 90 degrees apart, but can be adjusted by the designer. A pseudo rigid body model is illustrated for the joint, based on a four-bar linkage. Such a joint mechanism can be designed for any wing, by using the pseudo rigid body model to optimize link lengths and position the instant center appropriately. In addition, the mechanism can be cut out within a single plane for ease of manufacture and assembly.
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Jensen, Brian D., and Larry L. Howell. "Identification of Compliant Pseudo-Rigid-Body Mechanism Configurations Resulting in Bistable Behavior." In ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/detc2000/mech-14147.

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Abstract Bistable mechanisms, which have two stable equilibria within their range of motion, are important parts of a wide variety of systems, such as closures, valves, switches, and clasps. Compliant bistable mechanisms present design challenges because the mechanism’s energy storage and motion characteristics are strongly coupled and must be considered simultaneously. This paper studies compliant bistable mechanisms which may be modeled as four-link mechanisms with a torsional spring at one joint. Theory is developed to predict compliant and rigid-body mechanism configurations which guarantee bistable behavior. With this knowledge, designers can largely uncouple the motion and energy storage requirements of a bistable mechanism design problem. Examples demonstrate the power of the theory in bistable mechanism design.
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Nielson, Andrew J., and Larry L. Howell. "Compliant Pantographs via the Pseudo-Rigid-Body Model." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5930.

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Abstract This paper uses a familiar classical mechanism, the pantograph, to demonstrate the utility of the pseudo-rigid-body model in the design of compliant mechanisms to replace rigid-link mechanisms, and to illustrate the advantages and limitations of the resulting compliant mechanisms. To demonstrate the increase in design flexibility, three different compliant mechanism configurations were developed for a single corresponding rigid-link mechanism. The rigid-link pantograph consisted of six links and seven joints, while the corresponding compliant mechanisms had no more than two links and three joints (a reduction of at least four links and four joints). A fourth compliant pantograph, corresponding to a rhomboid pantograph, was also designed and tested. The test results showed that the pseudo-rigid-body model predictions were accurate over a large range, and the mechanisms had displacement characteristics of rigid-link mechanisms in that range. The limitations of the compliant mechanisms included reduced range compared to their rigid-link counterparts. Also, the force-deflection characteristics were predicted by the pseudo-rigid-body model, but they did not resemble those for a rigid-link pantograph because of the energy storage in the flexible segments.
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Midha, Ashok, Yuvaraj Annamalai, and Sharath K. Kolachalam. "A Compliant Mechanism Design Methodology for Coupled and Uncoupled Systems, and Governing Free Choice Selection Considerations." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57579.

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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.
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Lyon, Scott M., Mark S. Evans, Paul A. Erickson, and Larry L. Howell. "Dynamic Response of Compliant Mechanisms Using the Pseudo-Rigid-Body Model." In ASME 1997 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1997. http://dx.doi.org/10.1115/detc97/vib-4177.

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Abstract The pseudo-rigid-body modeling technique is used to simplify the nonlinear analysis of compliant mechanisms. This paper presents the first work that investigates the possibility of using the pseudo-rigid-body model to predict the dynamic response of compliant mechanisms. Four different configurations of the parallel-guiding mechanism are modeled and tested, as well as two configurations of compliant straight-line mechanisms. The model predictions of the first natural frequencies were compared with experimental results for all six mechanism configurations. The model predictions are within 9% of the experimental results for all cases.
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Vogtmann, Dana, Satyandra K. Gupta, and Sarah Bergbreiter. "Modeling and Optimization of a Miniature Elastomeric Compliant Mechanism Using a 3-Spring Pseudo Rigid Body Model." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-13537.

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This paper extends a previously developed Pseudo Rigid Body (PRB) analytical model for miniature elastomeric joints by introducing correction factors for joints with geometry not previously considered. Inclusion of these correction factors has resulted in an increase in the accuracy of the model from 20% to within 3% in bending and from 25% to within 7% in tension, when compared to equivalent Finite Element Analysis (FEA) models. Additionally, using the PRB model, a robotic leg with four elastomeric joints has been modeled, resulting in a maximum error of 12% when compared to an equivalent FEA model. Finally, the PRB model was used to optimize the robotic leg for minimum motor torque required to drive a hexapedal robot with six identical legs.
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Tekes, Ayse. "Compliant Five Bar Mechanism Control to Achieve a Desired Trajectory." In ASME 2017 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/imece2017-70077.

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In this study, two degrees of freedom planar compliant five-bar mechanism design is explored and synthesized to achieve a desired trajectory and to perform various defined tasks. The mechanism consists of five rigid links (including the ground) connected by the compliant large deflecting short beam joints and it is excited by the applied torques at the base links. The compliant five bar mechanism has not been explored in the literature for either a path tracking task or a function generation problem. The novelty of the compliant five bar mechanism presented in this paper is its large deflecting/rotating pivots joining the mechanism links. The mathematical model of the compliant five-bar mechanism is derived by using vector loop closures and dynamic inertia equations of the mechanism links. The dynamic response of the mechanism is investigated under the applied torques to the corresponding base links, using numerical 4th order Runge-Kutta methods. Compliant joints are represented by their equivalent torsional spring parameters so that the nonlinear large deflection equations of short beam joints are eliminated from the kinematic equations of the system using its equivalent Pseudo Rigid Body Model (PRBM). The torsional spring constants can be obtained, either by using nonlinear exact mathematical equations or by using geometrically nonlinear Finite Element Method software. The scope of this research is to derive a mathematical model of the system and to analyze the compliant five bar mechanism including the controller design for arbitrary predefined tasks to achieve the desired path for the end effector. The compliant five-bar mechanisms are superior to traditional rigid five-bar mechanisms in high precision tasks since compliant joints and links have no backlash and friction. This study explores path generation of compliant five bar mechanism resulting in high precision path tracking. The presented mechanism might be manufactured as a single piece using an injection molding technique or 3D printing by polypropylene and it is also suitable for a fully compliant Micro Electro Mechanical System fabrication. The mathematical model of the mechanism is validated by utilizing inverse-forward dynamic model. The tip point of the mechanism successfully follows the reference trajectory by employing model based PID controller.
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Leishman, Levi C., and Mark B. Colton. "A Pseudo-Rigid-Body Model Approach for the Design of Compliant Mechanism Springs for Prescribed Force-Deflections." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47590.

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Compliant mechanism springs offer a variety of benefits for applications where nonlinear force responses are desired. Designing a compliant mechanism spring with a prescribed force response is a unique challenge with many design variables. This paper introduces a method, based on the Pseudo-Rigid-Body Model (PRBM) for large beam deflections, to synthesize three- and four-link compliant mechanisms that exhibit prescribed force-deflection responses. The designer prescribes the target force-deflection curve, the number of links the spring is to have, and bounds for the spring’s link lengths and torsional spring constants. The method uses a genetic algorithm routine to search for promising designs and a direct search method to further refine the configuration to achieve the desired force-deflection curve. Experimental results illustrate the methods ability to generate springs whose force-deflection curves approximate the target curves. The results also suggest that inclusion of more complex configurations may lead to more accurate designs. It is shown how the method can be used to design springs that closely mimic the behavior of zero-free-length springs, and a discussion of how the method can be extended to design springs that behave similarly to pre-tensioned springs is presented.
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