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Journal articles on the topic 'Compliant Mechanism Designs'
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1
Valdivia y Alvarado, Pablo, and Kamal Youcef-Toumi. "Design of Machines With Compliant Bodies for Biomimetic Locomotion in Liquid Environments." Journal of Dynamic Systems, Measurement, and Control 128, no. 1 (September 19, 2005): 3–13. http://dx.doi.org/10.1115/1.2168476.
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The aim of this work is to investigate alternative designs for machines intended for biomimetic locomotion in liquid environments. For this, structural compliance instead of discrete assemblies is used to achieve desired mechanism kinematics. We propose two models that describe the dynamics of special compliant mechanisms that can be used to achieve biomimetic locomotion in liquid environments. In addition, we describe the use of analytical solutions for mechanism design. Prototypes that implement the proposed compliant mechanisms are presented and their performance is measured by comparing their kinematic behavior and ultimate locomotion performance with the ones of real fish. This study shows that simpler, more robust mechanisms, as the ones described in this paper, can display comparable performance to existing designs.
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Krishnan, G., C. Kim, and S. Kota. "Building block method: a bottom-up modular synthesis methodology for distributed compliant mechanisms." Mechanical Sciences 3, no. 1 (March 28, 2012): 15–23. http://dx.doi.org/10.5194/ms-3-15-2012.
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Abstract. Synthesizing topologies of compliant mechanisms are based on rigid-link kinematic designs or completely automated optimization techniques. These designs yield mechanisms that match the kinematic specifications as a whole, but seldom yield user insight on how each constituent member contributes towards the overall mechanism performance. This paper reviews recent developments in building block based design of compliant mechanisms. A key aspect of such a methodology is formulating a representation of compliance at a (i) single unique point of interest in terms of geometric quantities such as ellipses and vectors, and (ii) relative compliance between distinct input(s) and output(s) in terms of load flow. This geometric representation provides a direct mapping between the mechanism geometry and their behavior, and is used to characterize simple deformable members that form a library of building blocks. The design space spanned by the building block library guides the decomposition of a given problem specification into tractable sub-problems that can be each solved from an entry in the library. The effectiveness of this geometric representation aids user insight in design, and enables discovery of trends and guidelines to obtain practical conceptual designs.
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Fowler, R. M., L. L. Howell, and S. P. Magleby. "Compliant space mechanisms: a new frontier for compliant mechanisms." Mechanical Sciences 2, no. 2 (October 20, 2011): 205–15. http://dx.doi.org/10.5194/ms-2-205-2011.
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Abstract. Compliant mechanisms offer distinct advantages for use in space that can address many of the issues encountered with current rigid-link space mechanisms. Compliant space mechanisms are defined as moveable mechanical assemblies that achieve their desired motion, force, or displacement by means of the deflection of flexible members and can perform a necessary function in the environments of launch and space. Many current space mechanisms are already highly optimized, yet they still experience inherent challenges, and it is unclear if significant improvements in performance can be made by continuing to refine current designs. Compliant space mechanisms offer a promising opportunity to change the fundamental approach to achieving controlled motion in space systems and have potential for dramatic increases in mechanism performance given the constraints of the space environment. This paper proposes the merger of the fields of compliant mechanisms and space mechanisms as a future direction of research in compliant mechanisms, discusses in detail the motivation to do so, and addresses the key factors of applying compliant mechanism technology to space mechanisms.
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Hao, Guangbo, and Haiyang Li. "Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanisms." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 229, no. 3 (May 15, 2014): 538–55. http://dx.doi.org/10.1177/0954406214535925.
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This paper proposes conceptual designs of multi-degree(s) of freedom (DOF) compliant parallel manipulators (CPMs) including 3-DOF translational CPMs and 6-DOF CPMs using a building block based pseudo-rigid-body-model (PRBM) approach. The proposed multi-DOF CPMs are composed of wire-beam based compliant mechanisms (WBBCMs) as distributed-compliance compliant building blocks (CBBs). Firstly, a comprehensive literature review for the design approaches of compliant mechanisms is conducted, and a building block based PRBM is then presented, which replaces the traditional kinematic sub-chain with an appropriate multi-DOF CBB. In order to obtain the decoupled 3-DOF translational CPMs (XYZ CPMs), two classes of kinematically decoupled 3-PPPR (P: prismatic joint, R: revolute joint) translational parallel mechanisms (TPMs) and 3-PPPRR TPMs are identified based on the type synthesis of rigid-body parallel mechanisms, and WBBCMs as the associated CBBs are further designed. Via replacing the traditional actuated P joint and the traditional passive PPR/PPRR sub-chain in each leg of the 3-DOF TPM with the counterpart CBBs (i.e. WBBCMs), a number of decoupled XYZ CPMs are obtained by appropriate arrangements. In order to obtain the decoupled 6-DOF CPMs, an orthogonally-arranged decoupled 6-PSS (S: spherical joint) parallel mechanism is first identified, and then two example 6-DOF CPMs are proposed by the building block based PRBM method. It is shown that, among these designs, two types of monolithic XYZ CPM designs with extended life have been presented.
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Otomori, M., T. Yamada, K. Izui, and S. Nishiwaki. "Level set-based topology optimisation of a compliant mechanism design using mathematical programming." Mechanical Sciences 2, no. 1 (May 10, 2011): 91–98. http://dx.doi.org/10.5194/ms-2-91-2011.
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Abstract. We propose a structural optimisation method, based on the level set method and using mathematical programming such as the method of moving asymptotes (MMA), which we apply to the design of compliant mechanisms. A compliant mechanism is a monolithic joint-free mechanism designed to be flexible to obtain a specified motion. In the design of compliant mechanisms, several requirements such as the direction of the deformation and stress concentrations must be considered to obtain the specified mechanical function. Topology optimisation, the most flexible type of structural optimisation, has been successfully used as a design optimisation method for compliant mechanisms, but the utility of topology optimisation results is often spoiled by a plethora of impractical designs such as structures containing grayscale areas. Level set-based topology optimisation methods are immune to the problem of grayscales since the boundaries of the optimal configuration are implicitly represented using the level set function. The proposed method updates the level set function using mathematical programming to facilitate the treatment of constraint functionals. To verify its capability, we apply our method to compliant mechanism design problems that include displacement constraints and stress constraints.
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Sönmez, Ümit. "Introduction to Compliant Long Dwell Mechanism Designs Using Buckling Beams and Arcs." Journal of Mechanical Design 129, no. 8 (July 2, 2006): 831–43. http://dx.doi.org/10.1115/1.2735337.
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New classes of compliant long dwell mechanism designs are introduced, formulated, and simulated. These classes of compliant dwell mechanisms incorporate the buckling motion of flexible members. Long dwell motion is obtained throughout the buckling motion of a flexible follower. Flexible buckling members are modeled using polynomial functions fitted to nonlinear inextensible exact elastica theory. The displacement analysis of the mechanisms is done quasi-statically using loop closure theory, static equilibrium of flexible parts represented by polynomial load deflections. One example of each new mechanism and its simulation results are presented.
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Ahmad, Mohd Nizam, Karimah Mat, and Wan Mansor Wan Muhamad. "A Novel Design of Car Wiper Using Compliant Mechanism Method." Applied Mechanics and Materials 465-466 (December 2013): 39–43. http://dx.doi.org/10.4028/www.scientific.net/amm.465-466.39.
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Compliant mechanism is a new design approach on industry, particularly on product development, which reducing cost, development time and introduction of new quality components. This paper is focusing on the application of compliant mechanism concept on car wiper by using shape optimization method to get optimum compliant design of wiper. Reverse engineering has been used to gather dimensional data in order to model the actual wiper as datum. Compliant wiper designs are developed by replacing the joints at datum wiper; hence the components of wiper were reduced to become single part only. The shape of compliant wiper then was optimized by using ASNYS to get the optimal compliant design. Finite Element Analysis (FEA) was done on both datum and compliant wipers to examine the results. Simple physical and functional testing has been conducted to validate the functionality of compliant wiper. Based on the FEA results and simple testing, the compliant mechanism is able to be implemented at car wiper.
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Kit Yee, Sara Lee, Lam Yeap Sheng, and Tan Yong Li. "A Preliminary Study on the Compliant Stretcher Mechanism of Canopy." E3S Web of Conferences 243 (2021): 02007. http://dx.doi.org/10.1051/e3sconf/202124302007.
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The design of the canopy utilizes the conventional rigid body mechanisms which is vulnerable to the presence of backlash, friction of joints or wearing of mechanical parts which lead to short product life. Compliant mechanisms are employed to reduce these mechanical problems, owing to their zero-joint and monolithic structure. A reference design for the conventional canopy was chosen and modified through reviewing different patent designs. Six different configurations of the pseudo-rigid-body model (PRBM) were constructed, and the best configuration was selected. Kinematic synthesis with function generation was performed for the chosen PRBM using MATLAB. The obtained results from the kinematic synthesis were then used to calculate the dimensions and stresses of the flexural pivots for the compliant stretcher mechanism. Finite Element Analysis (FEA) simulation was then performed on each of the models and the obtained flexural pivot stresses were compared with that of the PRBM. This research successfully replaces all the rigid joints and links of the stretcher mechanism of the conventional canopy to form a monolithic structure of compliant stretcher mechanism.
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Guo, Jincheng, and Huaping Tang. "Stiffness-Oriented Structure Topology Optimization for Hinge-Free Compliant Mechanisms Design." Applied Sciences 11, no. 22 (November 16, 2021): 10831. http://dx.doi.org/10.3390/app112210831.
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This paper presents a stiffness-oriented structure topology optimization (TO) method for the design of a continuous, hinge-free compliant mechanism (CM). A synthesis formulation is developed to maximize the mechanism’s mutual potential energy (MPE) to achieve required structure flexibility while maximizing the desired stiffness to withstand the loads. Different from the general approach of maximizing the overall stiffness of the structure, the proposed approach can contribute to guiding the optimization process focus on the desired stiffness in a specified direction by weighting the related eigen-frequency of the corresponding eigenmode. The benefit from this is that we can make full use of the material in micro-level compliant mechanism designs. The single-node connected hinge issue which often happened in optimized design can be precluded by introducing the eigen-frequency constraint into this synthesis formulation. Several obtained hinge-free designs illustrate the validity and robustness of the presented method and offer an alternative method for hinge-free compliant mechanism designs.
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Meng, Qiaoling, Zhongzhe Chen, Haolun Kang, Zhijia Shen, and Hongliu Yu. "Analytical Modeling and Application for Semi-Circular Notch Flexure Hinges." Applied Sciences 13, no. 16 (August 15, 2023): 9248. http://dx.doi.org/10.3390/app13169248.
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Flexure-based compliant mechanisms can be used to achieve bio-imitability and adaptability in the applications of biomedical engineering. However, a nonlinear load-displacement profile increases the design complexity of this type of compliant mechanism, especially when the cross-section of the flexure hinge is not constant. This paper proposes two general analytical models by analyzing the compliance and stress characteristics of the semi-circular notch flexure hinge undergoing large deflections, which is a typical variable cross-section of a flexure hinge, based on the Castigliano’s second theorem and the finite elements analysis method. As a case study for verification, three compliant four-bar linkage mechanisms are designed based on the proposed design approach, the design method proposed by Howell, and the equations proposed by Lobontiu, respectively. The results show that the design accuracy is improved 36% in comparison with designs from Howell and Lobontiu. Finally, a flexure-based artificial finger is designed and manufactured based on the proposed optimization approach. The performance test of the prototype shows that the artificial finger has good bio-imitability and adaptability with respect to joint movements.
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Howell, L. L., A. Midha, and T. W. Norton. "Evaluation of Equivalent Spring Stiffness for Use in a Pseudo-Rigid-Body Model of Large-Deflection Compliant Mechanisms." Journal of Mechanical Design 118, no. 1 (March 1, 1996): 126–31. http://dx.doi.org/10.1115/1.2826843.
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Compliant mechanisms gain some or all of their mobility from the flexibility of their members rather than from rigid-body joints only. More efficient and usable analysis and design techniques are needed before the advantages of compliant mechanisms can be fully utilized. In an earlier work, a pseudo-rigid-body model concept, corresponding to an end-loaded geometrically nonlinear, large-deflection beam, was developed to help fulfill this need. In this paper, the pseudo-rigid-body equivalent spring stiffness is investigated and new modeling equations are proposed. The result is a simplified method of modeling the force/deflection relationships of large-deflection members in compliant mechanisms. The resulting models are valuable in the visualization of the motion of large-deflection systems, as well as the quick and efficient evaluation and optimization of compliant mechanism designs.
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Vilorio, Carlos, Brittany Stark, Aaron R. Hawkins, Kendal Frogget, and Brian Jensen. "Stress relaxation insensitive designs for metal compliant mechanism threshold accelerometers." Sensing and Bio-Sensing Research 6 (December 2015): 33–38. http://dx.doi.org/10.1016/j.sbsr.2015.10.001.
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Lu, Kerr-Jia, and Sridhar Kota. "Topology and Dimensional Synthesis of Compliant Mechanisms Using Discrete Optimization." Journal of Mechanical Design 128, no. 5 (October 30, 2005): 1080–91. http://dx.doi.org/10.1115/1.2216729.
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A unified approach to topology and dimensional synthesis of compliant mechanisms is presented in this paper as a discrete optimization problem employing both discrete (topology) and continuous (size) variables. The synthesis scheme features a design parameterization method that treats load paths as discrete design variables to represent various topologies, thereby ensuring structural connectivity among the input, output, and ground supports. The load path synthesis approach overcomes certain design issues, such as “gray areas” and disconnected structures, inherent in previous design schemes. Additionally, multiple gradations of structural resolution and a variety of configurations can be generated without increasing the number of design variables. By treating topology synthesis as a discrete optimization problem, the synthesis approach is incorporated in a genetic algorithm to search for feasible topologies for single-input single-output compliant mechanisms. Two design examples, commonly seen in the compliant mechanisms literature, are included to illustrate the synthesis procedure and to benchmark the performance. The results show that the load path synthesis approach can effectively generate well-connected compliant mechanism designs that are free of gray areas.
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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 (July 29, 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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Lazarov, B. S., M. Schevenels, and O. Sigmund. "Robust design of large-displacement compliant mechanisms." Mechanical Sciences 2, no. 2 (August 22, 2011): 175–82. http://dx.doi.org/10.5194/ms-2-175-2011.
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Abstract. The aim of this article is to introduce a new topology optimisation formulation for optimal robust design of Micro Electro Mechanical Systems. Mesh independence in topology optimisation is most often ensured by using filtering techniques, which result in transition grey regions difficult to interpret in practical realisations. This problem has been alleviated recently by projection techniques, but these destroy the mesh independence introduced by the filters and result in single node connected hinges. Such features in the design are undesirable as they are not robust with respect to geometric manufacturing errors (such as under/over etching). They can be avoided by optimising for several design realisations which take into account the possible geometry errors. The design variations are modelled with the help of random variables. The proposed stochastic formulation for the design variations results in nearly black and white mechanism designs, robust with respect to uncertainties in the production process, i.e. without any hinges or small details which can create manufacturing difficulties.
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Fu, Yun-Fei, Kazem Ghabraie, Bernard Rolfe, Yanan Wang, and Louis N. S. Chiu. "Smooth Design of 3D Self-Supporting Topologies Using Additive Manufacturing Filter and SEMDOT." Applied Sciences 11, no. 1 (December 29, 2020): 238. http://dx.doi.org/10.3390/app11010238.
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The smooth design of self-supporting topologies has attracted great attention in the design for additive manufacturing (DfAM) field as it cannot only enhance the manufacturability of optimized designs but can obtain light-weight designs that satisfy specific performance requirements. This paper integrates Langelaar’s AM filter into the Smooth-Edged Material Distribution for Optimizing Topology (SEMDOT) algorithm—a new element-based topology optimization method capable of forming smooth boundaries—to obtain print-ready designs without introducing post-processing methods for smoothing boundaries before fabrication and adding extra support structures during fabrication. The effects of different build orientations and critical overhang angles on self-supporting topologies are demonstrated by solving several compliance minimization (stiffness maximization) problems. In addition, a typical compliant mechanism design problem—the force inverter design—is solved to further demonstrate the effectiveness of the combination between SEMDOT and Langelaar’s AM filter.
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Tian, Y., B. Shirinzadeh, D. Zhang, and Y. Zhong. "Three flexure hinges for compliant mechanism designs based on dimensionless graph analysis." Precision Engineering 34, no. 1 (January 2010): 92–100. http://dx.doi.org/10.1016/j.precisioneng.2009.03.004.
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Ramirez, O., R. Hernández Cerero, A. Y. Prieto Vazquez, and C. R. Torres San Miguel. "Design of a compliant mechanism for a sternum prosthesis using the pseudo-rigid-body model." Journal of Physics: Conference Series 2307, no. 1 (September 1, 2022): 012015. http://dx.doi.org/10.1088/1742-6596/2307/1/012015.
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Abstract When a sternum prosthesis is implemented, it must allow the movement of the rib cage. The sternum prosthesis designs that have been developed are completely rigid, this aspect can present discomfort when breathing, as well as fixation problems between the prosthesis and the bone tissue. The aim of this work is to develop a flexible device that allows the movement of the rib cage during breathing. Compliant mechanism design was developed by using the pseudo-rigid body model (PRBM) starting from a 4-bar rigid mechanism. The flexible model was obtained by developing the methodology of replacement from rigid to flexible body. The results show the obtained parameters of the compliant mechanism and the three-dimensional model for subsequent numerical and experimental analysis.
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Wang, Wei, and Shilin Wu. "A caterpillar climbing robot with spine claws and compliant structural modules." Robotica 34, no. 7 (October 15, 2014): 1553–65. http://dx.doi.org/10.1017/s0263574714002446.
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SUMMARYThis paper proposes a modular caterpillar climbing robot using spines as the attaching tools. To improve the reliability of the spines' engagement and disengagement, this paper discusses the reasonable trajectory of the spine and designs a driving mechanism of the spine based on the compliant mechanism theory. Then some compliant modules are designed and realized to build the caterpillar climbing robot. A climbing gait is designed to avoid collisions between the spines and the wall, and allows the robot to climb on a stucco-like wall with a 72○ incline. The real tests reveal that the deformation of the compliant toes reduces the sliding forces between the spines and the wall, and improve the climbing action obviously.
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Tai, Kang, Guang Yu Cui, and Tapabrata Ray. "Design Synthesis of Path Generating Compliant Mechanisms by Evolutionary Optimization of Topology and Shape." Journal of Mechanical Design 124, no. 3 (August 6, 2002): 492–500. http://dx.doi.org/10.1115/1.1480818.
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This work demonstrates the successful synthesis of path generating compliant mechanisms by the process of topology and shape design optimization. As geometric topology variation of continuum structures is difficult to treat and analysis of the displacement path or trajectory of such structures is computationally intensive, a highly effective and efficient optimal design procedure is needed. This paper describes the use of a recently developed morphological geometric representation scheme coupled with an evolutionary algorithm to synthesize the mechanism. The scheme uses arrangements of skeleton and “flesh” to define structural geometry, which facilitates transmission of topological/shape characteristics across generations in the evolutionary process and will not render any geometrically invalid designs. The evolutionary algorithm solves the problem as a discrete optimization problem, with a proficient constraint handling capability.
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Sathyapriya, G., U. Natarajan, B. Sureshkumar, G. Navaneethakrishnan, R. Palanisamy, Kareem M. Aboras, Hossam Kotb, Naveen Kumar Sharma, and Kitmo. "Development of Compliant Vibration Isolation Damper and Its Performance Analysis in Turning Operation." Advances in Materials Science and Engineering 2022 (September 13, 2022): 1–9. http://dx.doi.org/10.1155/2022/6860178.
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The major setback faced by any of the production industry was maintaining the surface quality and dimensional accuracy of parts manufactured. Higher productivity is expected from industrial point of view, but resulting in poor surface texture. This work aims at addressing this problem by developing a suitable damping system for increased production with high precision products. In conventional method, dampers used is assembled of many parts, whereas the innovation in this paper is that the damper structure is monolithic in nature. Hence, manufacture time and cost of new innovative compliant damper is reduced. The work addressed the problem of damping by the use of compliant mechanism developed through building blocks of planar compliant mechanisms synthesis. Finite element analysis (FEA) was carried out in deciding the final form of the damping system. The proposed design was created by following fused deposition modelling (FDM 3D printing technique) using acrylonitrile butadiene styrene (ABS) material. Based on the results obtained from the experiments, the damping system has an impact on the surface quality of the product. The cutting force produced between the cutting edge and work surface could be improved by providing continuous contact (i.e., higher tool stability). The tool stability could be improved by using the compliant damping design and 3D printing technology for developing the complex designs into real products. The major limitation of the proposed work is the complexity in analysing compliant models with all the boundary conditions prevailing in the real time environment. The major influencing boundary conditions could be applied in neglecting insignificant factors. This work is a novel approach for developing a compliant mechanism-based damper that could restrict the effects of chatter in machining operation. The building blocks-based design was produced using 3D printing of the ABS material. Turning of aluminium was analysed for surface improvement by the tool stability improvement. Results revealed the impact of the ABS compliant damper. On an average, surface roughness of the products was reduced by 27.61%.
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Yao, J. Q. "Contact Mechanics of Soft Layer Artificial Hip Joints: Part 1: General Solutions." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 208, no. 4 (December 1994): 195–205. http://dx.doi.org/10.1243/pime_proc_1994_208_289_02.
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Unlike natural synovial joints, which are lubricated with a full fluid film lubrication mechanism, conventional artificial hip joints are lubricated with a mixed lubrication mechanism. Recently, however, a new generation of artificial hip joints employing compliant layers to mimic the compliance of articular cartilage in natural synovial joints have been developed to provide fluid film lubrication in these joints. While satisfactory lubrication can be achieved by employing soft layers, compliant thin layers are susceptible to the debonding between the soft layer and its stiffer substrate and long-term mechanical fatigue failure. Stress analyses for different designs of such joints are therefore important. In the present paper, the circular contact between a rigid sphere and an elastomeric layer bonded on to a rigid substrate has been analysed with a novel semi-analytical approach. The detailed contact parameters (the contact radius, the maximum surface deformation, the contact pressure and the contact stress inside the layer) have been examined for a wide range of aspect ratios (0 ≤ a/ht ≤ 100).
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Davidson, L. A., M. A. Koehl, R. Keller, and G. F. Oster. "How do sea urchins invaginate? Using biomechanics to distinguish between mechanisms of primary invagination." Development 121, no. 7 (July 1, 1995): 2005–18. http://dx.doi.org/10.1242/dev.121.7.2005.
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The forces that drive sea urchin primary invagination remain mysterious. To solve this mystery we have developed a set of finite element simulations that test five hypothesized mechanisms. Our models show that each of these mechanisms can generate an invagination; however, the mechanical properties of an epithelial sheet required for proper invagination are different for each mechanism. For example, we find that the gel swelling hypothesis of Lane et al. (Lane, M. C., Koehl, M. A. R., Wilt, F. and Keller, R. (1993) Development 117, 1049–1060) requires the embryo to possess a mechanically stiff apical extracellular matrix and highly deformable cells, whereas a hypothesis based on apical constriction of the epithelial cells requires a more compliant extracellular matrix. For each mechanism, we have mapped out a range of embryo designs that work. Additionally, the simulations predict specific cell shape changes accompanying each mechanism. This allows us to design experiments that can distinguish between different mechanisms, all of which can, in principle, drive primary invagination.
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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 (June 27, 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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Baek, Sang-Min, Sojung Yim, Soo-Hwan Chae, Dae-Young Lee, and Kyu-Jin Cho. "Ladybird beetle–inspired compliant origami." Science Robotics 5, no. 41 (April 15, 2020): eaaz6262. http://dx.doi.org/10.1126/scirobotics.aaz6262.
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Origami can enable structures that are compact and lightweight. The facets of an origami structure in traditional designs, however, are essentially nondeformable rigid plates. Therefore, implementing energy storage and robust self-locking in these structures can be challenging. We note that the intricately folded wings of a ladybird beetle can be deployed rapidly and effectively sustain aerodynamic forces during flight; these abilities originate from the geometry and deformation of a specialized vein in the wing of this insect. We report compliant origami inspired by the wing vein in ladybird beetles. The deformation and geometry of the compliant facet enables both large energy storage and self-locking in a single origami joint. On the basis of our compliant origami, we developed a deployable glider module for a multimodal robot. The glider module is compactly foldable, is rapidly deployable, and can effectively sustain aerodynamic forces. We also apply our compliant origami to enhance the energy storage capacity of the jumping mechanism in a jumping robot.
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Walczyk, Daniel F., and Randy S. Longtin. "Fixturing of Compliant Parts Using a Matrix of Reconfigurable Pins." Journal of Manufacturing Science and Engineering 122, no. 4 (December 1, 1999): 766–72. http://dx.doi.org/10.1115/1.1314599.
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Commercially-available reconfigurable fixtures, used for holding compliant sheet metal, composite and plastic parts during secondary machining operations, are extremely expensive and overly-complicated devices. A computer-controlled, reconfigurable fixturing device (RFD) concept for compliant parts, based on a matrix of individually-stoppable pins lowered by a single rigid platen, has been developed as a simple and low-cost design alternative to commercially-available devices. Two different approaches to stopping and clamping individual pins have been investigated: a combination electromagnet assist and gas springs compressed with a toggle mechanism, and a pneumatic clamp. Simple mechanical models have been developed for predicting the stopping and clamping performance of both designs including pin positioning accuracy, vertical load-carrying capacity of a pin, and deflection of a pin subjected to lateral loads. An RFD prototype, consisting of a single pin actuated by a servoed platen, has been designed, built and tested. It has demonstrated the feasibility of this new RFD design. [S1087-1357(00)02204-8]
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Crane, Nathan B., Larry L. Howell, Brent L. Weight, and Spencer P. Magleby. "Compliant Floating-Opposing-Arm (FOA) Centrifugal Clutch." Journal of Mechanical Design 126, no. 1 (January 1, 2004): 169–77. http://dx.doi.org/10.1115/1.1639378.
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This paper introduces the floating-opposing-arm (FOA) centrifugal clutch, presents a mathematical model for its analysis, and demonstrates the validity of a model to predict clutch performance with experimental data. The novelty of the clutch includes an arrangement of aggressive and non-aggressive contact surfaces in connected pairs to achieve a high torque carrying capability while maintaining starting smoothness and stability. As a compliant mechanism, it has fewer parts than traditional centrifugal clutches, and has the potential for significant cost reductions in manufacturing and assembly. Analysis of the FOA clutch is made difficult by the combination of dynamics and elastic deformation required for its operation. A model, based on the pseudo-rigid-body model, simplifies the engagement speed and torque capacity analyses. The model is validated by testing individual clutches and by demonstrating clutch designs in typical applications.
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Tai, K., and T. H. Chee. "Design of Structures and Compliant Mechanisms by Evolutionary Optimization of Morphological Representations of Topology." Journal of Mechanical Design 122, no. 4 (September 1, 1998): 560–66. http://dx.doi.org/10.1115/1.1319158.
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This paper demonstrates the automatic design synthesis of continuum structures by the process of topology/shape optimization. The problem is solved as a discrete optimization problem using the genetic algorithm (GA). Past efforts using this approach have not been very effective due to the lack of an appropriate structural geometric representation which is highly essential to the success of the evolutionary processes of the GA. Based on the morphology of living creatures, a representation scheme has been developed using arrangements of skeleton and ‘flesh’ to define structural geometry. This scheme facilitates the transmission of topological and shape characteristics across generations in the evolutionary process, and will not render any structurally invalid designs. Good results are illustrated using this scheme to design a compliant mechanism and a cantilever beam. [S1050-0472(00)02104-8]
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Jiang, Junxia, Chen Bian, and Yinglin Ke. "A new method for automatic shaft-hole assembly of aircraft components." Assembly Automation 37, no. 1 (February 6, 2017): 64–70. http://dx.doi.org/10.1108/aa-04-2016-032.
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Purpose The purpose of this paper is to design a new method to realize automatic assembly of aircraft components with large shafts such as canard and vertical tail. The assembly structure of component with large shaft and fuselage is a mating assembly structure, and it is a challenge to satisfy the precision and assembly requirement. Design/methodology/approach According to the assembly structure features and process requirements of an aircraft component with large shaft, the operating principle of precise assembly system for shaft-hole mating is analyzed in this paper. The model of compliant assembly for shaft-hole mating is constructed, and force condition analysis of the compliant assembly is performed. An automatic precise shaft-hole assembly method for aircraft assembly using 5 degrees of freedom spatial mechanism, compliance technology and servo feeding system is put forward based on the analysis. A 5 degrees of freedom passive compliant experimental equipment has been developed. Findings Application test results of the 5 degrees of freedom passive compliant experimental equipment show that the simulated canard can be mated automatically and accurately through this method with high efficiency and high quality as long as the tip of shaft enters into the range of hole’s chamfer. Practical implications This method has been used in an aircraft assembly project. The practical results show that the aircraft components with large shafts can be mated automatically and accurately through this method with high efficiency and high quality. Originality/value This paper presents a new method and designs a new assembly system to realize the assembly of the aircraft components with large shafts. The research will promote the automation of fuselage assembly.
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Pham, Minh Tuan, Song Huat Yeo, and Tat Joo Teo. "Three-Legged Compliant Parallel Mechanisms: Fundamental Design Criteria to Achieve Fully Decoupled Motion Characteristics and a State-of-the-Art Review." Mathematics 10, no. 9 (April 22, 2022): 1414. http://dx.doi.org/10.3390/math10091414.
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A three-legged compliant parallel mechanism (3L-CPM) achieves fully decoupled motions when its theoretical 6 × 6 stiffness/compliance matrix is a diagonal matrix, which only contains diagonal components, while all non-diagonal components are zeros. Because the motion decoupling capability of 3L-CPMs is essential in the precision engineering field, this paper presents the fundamental criteria for designing 3L-CPMs with fully decoupled motions, regardless of degrees-of-freedom and the types of flexure element. The 6 × 6 stiffness matrix of a general 3L-CPM is derived based on the orientation of each flexure element, e.g., thin/slender beam and notch hinge, etc., and its relative position to the moving platform. Based on an analytical solution, several requirements for the flexure elements were identified and needed to be satisfied in order to design a 3L-CPM with a diagonal stiffness/compliance matrix. In addition, the developed design criteria were used to analyze the decoupled-motion capability of some existing 3L-CPM designs and shown to provide insight into the motion characteristics of any 3L-CPM.
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Zhang, Xiang, Twan Capehart, and Carl A. Moore. "Design and Analysis of a Novel Variable Stiffness Joint for Robot." MATEC Web of Conferences 249 (2018): 03005. http://dx.doi.org/10.1051/matecconf/201824903005.
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As people pay more attention to the safety of human-robotic interaction, the flexibility of machine joints is becoming more and more important. To address the needs of future robotic applications, many kinds of variable stiffness mechanisms have been designed by scientists. But most of the structures are complex. By studying and comparing many different mechanism designs of variable stiffness joint, we recognize the need to miniaturization and reduce weight of variable stiffness joints with high frequency operation. To address this, need a continuously Variable Compliant Joint (CVCJ) was designed. The core of the joint is based on the structure of the spherical continuously variable transmission (SCVT) which is the catalyst to change the stiffness continuously and smoothly. In this paper, we present a compact variable stiffness joint structure to meet the volume and weight requirements of the future robotic systems. We show the connection between the joint stiffness coefficient and the structure parameters by making mathematical analysis, modelling and simulation for the system to verify the ability to satisfy the base application requirements of the compliant joint.
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Paniselvam, Vinodth, Nicholas Yew Jin Tan, and Senthil Kumar Anantharajan. "A Review on the Design and Application of Compliant Mechanism-Based Fast-Tool Servos for Ultraprecision Machining." Machines 11, no. 4 (April 3, 2023): 450. http://dx.doi.org/10.3390/machines11040450.
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The compliant mechanism (CM)-based fast-tool servo (FTS) is used in ultraprecision machining contexts to produce high value products for technically advanced applications. Far too often, the FTS’ machined products are expected to be geometrically complex with minimal form tolerance and surface roughness. Since the FTS’ enclosing CM is responsible for guiding the cutting motion, its design is of utmost importance in determining the quality of the machined product. The objective of this paper is therefore to review specifically the design and structural related aspects of CM-based FTS that affects its ultraprecision machining performance. After a brief introduction, the fundamentals for designing ultraprecision capable CMs such as flexure hinge modelling, actuator selection and isolation and CM designing are comprehensively explained. In the subsequent section, the various configurations of CM-based FTSs that exist so far and their functionalities are listed. The critical factors which impact the CM-based FTS’ ultraprecision machining performance are identified and mitigating measures are provided wherever possible. Before concluding, the research questions that should be investigated for raising the state of the art of CM-based FTSs are presented as food for thought. With this review article, not only can practitioners have a clearer picture of how better to design their CMs for their FTSs, but they can also improve upon existing FTS designs from leading researchers so that products of higher quality than before can be made for the future.
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Tang, Jun, Yudi Zhu, Wencong Gan, Haiming Mou, Jie Leng, Qingdu Li, Zhiqiang Yu, and Jianwei Zhang. "Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot." Biomimetics 8, no. 4 (August 1, 2023): 340. http://dx.doi.org/10.3390/biomimetics8040340.
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This paper presents the development, modeling, and control of L03, an underactuated 3D bipedal robot with symmetrical hips and straight legs. This innovative design requires only five actuators, two for the legs and three for the hips. This paper is divided into three parts: (1) mechanism design and kinematic analysis; (2) trajectory planning for the center of mass and foot landing points based on the Divergent Component of Motion (DCM), enabling lateral and forward walking capabilities for the robot; and (3) gait stability analysis through prototype experiments. The primary focus of this study is to explore the application of underactuated symmetrical designs and determine the number of motors required to achieve omnidirectional movement of a bipedal robot. Our simulation and experimental results demonstrate that L03 achieves simple walking with a stable and consistent gait. Due to its lightweight construction, low leg inertia, and straight-legged design, L03 can achieve ground perception and gentle ground contact without the need for force sensors. Compared to existing bipedal robots, L03 closely adheres to the characteristics of the linear inverted pendulum model, making it an invaluable platform for future algorithm research.
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Moslemi, Navid, Soheil Gohari, Farzin Mozafari, Mohsen Gol Zardian, Colin Burvill, Mohd Yazid Yahya, and Amran Ayob. "A novel smart assistive knee brace incorporated with shape memory alloy wire actuator." Journal of Intelligent Material Systems and Structures 31, no. 13 (May 26, 2020): 1543–56. http://dx.doi.org/10.1177/1045389x20922911.
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The knee plays a significant role in locomotion and stability of the entire body through supporting the body weight and assisting the lower body kinematics during walking. However, the knee is at constant risk of becoming weakened due to disease, age, and accidents. One approach to treating weakened knee is wearing an assistive knee brace. To design a clinical knee brace, many factors such as weight and compliant mechanism should be considered. In this study, a novel smart assistive knee brace mechanism incorporated with wire actuators made of shape memory alloys is proposed to ameliorate the issues associated with weight and flexibility of existing brace designs. Unlike earlier studies, the proposed orthosis includes pressure sensor, shape memory actuator, and smart linkage. Furthermore, two distinct shape memory alloy actuator design concepts with improved stiffness are developed, and the best option is chosen systematically and prototyped. The novel mechanism proposed in this research overcomes the weight of the lower limb during swing phase using the combined shape memory alloy actuation and feed-forward controller design. As such, it can be used as a potential replacement to its conventional counterparts when the higher weight reduction as well as a flexible and controllable mechanism are simultaneously sought.
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James, Roshan, Paulos Mengsteab, and Cato T. Laurencin. "Regenerative Engineering: Studies of the Rotator Cuff and other Musculoskeletal Soft Tissues." MRS Advances 1, no. 18 (2016): 1255–63. http://dx.doi.org/10.1557/adv.2016.282.
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ABSTRACT‘Regenerative Engineering’ is the integration of advanced materials science, stem cell science, physics, developmental biology and clinical translation to regenerate complex tissues and organ systems. Advanced biomaterial and stem cell science converge as mechanisms to guide regeneration and the development of prescribed cell lineages from undifferentiated stem cell populations. Studies in somite development and tissue specification have provided significant insight into pathways of biological regulation responsible for tissue determination, especially morphogen gradients, and paracrine and contact-dependent signaling. The understanding of developmental biology mechanisms are shifting the biomaterial design paradigm by the incorporation of molecules into scaffold design and biomaterial development that are specifically targeted to promote the regeneration of soft tissues. Our understanding allows the selective control of cell sensitivity, and a temporal and spatial arrangement to modulate the wound healing mechanism, and the development of cell phenotype leading to the patterning of distinct and multi-scale tissue systems.Building on the development of mechanically compliant novel biomaterials, the integration of spatiotemporal control of biological, chemical and mechanical cues helps to modulate the stem cell niche and direct the differentiation of stem cell lineages. We have developed advanced biomaterials and biomimetic scaffold designs that can recapitulate the native tissue structure and mechanical compliance of soft musculoskeletal tissues, such as woven scaffold systems for ACL regeneration, non-woven scaffolds for rotator cuff tendon augmentation, and porous elastomers for regeneration of muscle tissue. Studies have clearly demonstrated the modulation of stem cell response to bulk biomaterial properties, such as toughness and elasticity, and scaffold structure, such as nanoscale and microscale dimensions. The integration of biological cues inspired from our understanding of developmental biology, along with chemical, mechanical and electrical stimulation drives our development of novel biomaterials aimed at specifying the stem cell lineage within 3-dimensional (3D) tissue systems. This talk will cover the development of biological cues, advanced biomaterials, and scaffold designs for the regeneration of complex soft musculoskeletal tissue systems such as ligament, tendon, and muscle.
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Dang, Minh Phung, Hieu Giang Le, Ngoc Phat Nguyen, Ngoc Le Chau, and Thanh-Phong Dao. "Optimization for a New XY Positioning Mechanism by Artificial Neural Network-Based Metaheuristic Algorithms." Computational Intelligence and Neuroscience 2022 (December 1, 2022): 1–18. http://dx.doi.org/10.1155/2022/9151146.
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This paper devotes a new method in modeling and optimizing to handle the optimization of the XY positioning mechanism. The fitness functions and constraints of the mechanism are formulated via proposing a combination of artificial neural network (ANN) and particle swarm optimization (PSO) methods. Next, the PSO is hybridized with the grey wolf optimization, namely PSO-GWO, which is applied to three scenarios in handling the single objective function. In order to search the multiple functions for the mechanism, the multiobjective optimization genetic algorithm (MOGA) is applied to the last scenario. The achieved results showed that the fitness functions are well-formulated using the PSO-based ANN method. In the scenario 1, the stroke achieved by the PSO-GWO (1852.9842 μm) is better than that gained from the GWO (1802.8087 μm). In the scenarios 2, the stress gained from the PSO-GWO (243.3183 MPa) is lower than that achieved from the GWO (245.0401 MPa). In the scenario 3, the safety factor retrieved from the PSO-GWO (1.9767) is greater than that achieved from the GWO (1.9278). In the scenario 4, by using MOGA, the optimal results found that the stroke is about (1741.3 μm) and the safety factor is 1.8929. The prediction results are well-fitted with the numerical and experimental verifications. The results of this paper are expected to facilitate the synthesis and analysis of compliant mechanisms and related engineering designs.
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Wu, Xiaomeng, Yan Zhang, Liang Gao, and Jie Gao. "On the Indispensability of Isogeometric Analysis in Topology Optimization for Smooth or Binary Designs." Symmetry 14, no. 5 (April 19, 2022): 845. http://dx.doi.org/10.3390/sym14050845.
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Recently, isogeometric analysis (IGA), which unifies the computer-aided design (CAD) model and the computer-aided engineering (CAE) model, has been adopted to develop the isogeometric topology optimization (ITO) framework. However, a critical study on the indispensability of IGA in topology optimization to take the place of the conventional finite element method (FEM) is still lacking. In the current work, two important problems are extensively discussed: (1) The lower numerical precision of the FEM resulting from the disunification between the CAD and CAE models damages the effectiveness of the topology optimization, which suggests the indispensability of IGA in the replacement of the FEM in optimization; (2) a material penalization model is required to ensure the generation of a full loading-transmission path during optimization in classic density-based methods, which causes a greater overestimation of structural stiffness and also suggests the necessity of an ersatz material model. The current paper describes a promising ITO method with point-wise design to gain smooth or binary symmetrical topologies, for which an extended density distribution function (DDF) was constructed to describe the structural topology. Two benchmarks of the stiffness-maximization problem and compliant mechanism are studied in the context of the above issues. Finally, several topologically optimized designs with symmetry are obtained using the ITO method.
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Nguyen, Van Tu, Minh Tuan Nguyen, and Minh Tuan Pham. "Synthesis of Multiple Degrees-of-Freedom Compliant Parallel Mechanisms Using Improved Beam-Based Structural Optimization Method." Applied Mechanics and Materials 907 (June 22, 2022): 55–67. http://dx.doi.org/10.4028/p-45p8rj.
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This paper presents the development of a three degrees-of-freedom (DOF) compliant parallel mechanism (CPM) with spatial motions, i.e., two rotations about the X and Y axes and one translation along the Z axis (θX-θY-Z). Such CPM is synthesized by the improved beam-based structural optimization method. The obtained results suggest that the proposed CPM is able to produce totally decoupled motions illustrated by a diagonal stiffness/compliance matrix, a large workspace of ±22,5 degrees × ±22,5 degrees × ±9,6 mm, fast dynamic response with the first natural frequency of ~100 Hz and high stiffness ratios between actuating and non-actuating directions (with stiffness ratios of 6210 and 2706 for translations and rotations respectively). Finite element analysis (FEA) is employed to evaluate the actual performance of the synthesized CPM with Ti6Al4V material in order to verify the correctness of the synthesis method. The effectiveness of the improved beam-based structural method is demonstrated by the good agreement between the simulation and predicted data with the highest deviations are 8.8% and 6.7% for the stiffness and dynamic properties respectively. In addition, some comparisons are carried out to investigate the advantages as well as disadvantages of the proposed CPM and existing designs. The comparison results show that the 3-DOF CPM presented in this paper has many merits compared to its counterparts. It can be used in various applications, e.g., the micro/nano positioners and alignment systems in precision engineering field due to its good mechanical properties (high stiffness ratios and fast dynamic behavior), large work range and fully-decoupled motion characteristic.
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Dang, Minh Phung, Hieu Giang Le, Nguyen Thanh Duy Tran, Ngoc Le Chau, and Thanh-Phong Dao. "Optimal Design and Analysis for a New 1-DOF Compliant Stage Based on Additive Manufacturing Method for Testing Medical Specimens." Symmetry 14, no. 6 (June 14, 2022): 1234. http://dx.doi.org/10.3390/sym14061234.
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In situ nanoindentation is extensively employed for online observing deformation and mechanical behaviors of bio-materials. However, the existing designs of the positioning stages have limited performances for testing soft or hard biomaterials. Consequently, this paper proposes a new structural design of a compliant one degree of freedom (01-DOF) stage with faster response. In addition to a new design, this article applies an analytical method to estimate the kinematic and dynamic behaviors of the stage. Firstly, the 01-DOF stage is designed with two modules, including a displacement amplifier with six levers and a symmetric parallelogram mechanism. Secondly, a kinetostatic diagram of the stage is built by pseudo-rigid-body method. Then, the dynamic equation of the proposed stage is formulated using the Lagrange method. In order to speed up the response of the indentation system, the structural optimization of the stage is conducted via the Firefly algorithm. The results showed that the theoretical first-order resonant frequency is found at about 226.8458 Hz. The theoretical consequences are nearby to the verified simulation. Besides, this achieved frequency of the presented stage is greater than that of previous stages. In an upcoming study, the prototype will be fabricated by additive manufacturing method or a computerized wire cutting method in order to verify the analytical results with experimental results.
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Hasse, Alexander, and Lucio Flavio Campanile. "Design of compliant mechanisms with selective compliance." Smart Materials and Structures 18, no. 11 (September 15, 2009): 115016. http://dx.doi.org/10.1088/0964-1726/18/11/115016.
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Manko, D. J., and W. L. Whittaker. "Inverse Dynamic Models of Closed-Chain Mechanisms With Contact Compliance." Journal of Mechanical Design 114, no. 1 (March 1, 1992): 82–86. http://dx.doi.org/10.1115/1.2916929.
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A general inverse dynamic model which is applicable to closed-chain mechanisms with contact compliance is presented. This class of mechanism has relatively rigid members and joints, but experiences compliant interactions with objects and the environment; examples include walking machines operating on natural terrain, devices for grasping a compliant object, and wheeled mobile robots. Previous approaches for formulating inverse dynamic models of compliant mechanisms have been approximations or limited to simple configurations and open-chain mechanisms. Inverse dynamic equations for closed-chain mechanisms with contact compliance are shown to be solvable sets of differential/algebraic equtaions (DAEs) which assures that stable and accurate solutions can be calculated; relevant characteristics and solutions of DAE systems are discussed.
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Wang, Yu, and Zhen Luo. "Design of Compliant Mechanisms of Distributed Compliance Using a Level-Set Based Topology Optimization Method." Applied Mechanics and Materials 110-116 (October 2011): 2319–23. http://dx.doi.org/10.4028/www.scientific.net/amm.110-116.2319.
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This paper presents a level set-based structural shape and topology optimization for the design of compliant mechanisms. The design boundary of the compliant mechanism is implicitly represented as the zero level-set of a higher-dimensional level set surface. A quadratic energy functional is introduced to augment the objective function in order to control the structural geometric size of the resulting mechanism. The optimization is thus changed to a numerical process that describes the design as a sequence of motions by updating the implicit boundaries until the optimized structure is achieved under specified constraints. A semi-implicit scheme with an additive operator splitting (AOS) algorithm is used to solve the Hamilton-Jacobi partial differential equation (PDE) in the level set method. In doing so, it is expected that numerical difficulties in most conventional level set methods can be eliminated. The final mechanism is characterized with strip-like members able to generate distributed compliance, and so that to resolve the hinge problem long sought-after in the design of compliant mechanisms. Typical numerical case is used to evidence the effectiveness of this method in the design of monolithic compliant mechanisms.
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Dunning, A. G., N. Tolou, and J. L. Herder. "Review Article: Inventory of platforms towards the design of a statically balanced six degrees of freedom compliant precision stage." Mechanical Sciences 2, no. 2 (August 4, 2011): 157–68. http://dx.doi.org/10.5194/ms-2-157-2011.
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Abstract. For many applications in precision engineering, a six degrees of freedom (DoF) compliant stage (CS) with zero stiffness is desirable, to deal with problems like backlash, friction, lubrication, and at the same time, reduce the actuation force. To this end, the compliant stage (also known as compliant mechanism) can be statically balanced with a stiffness compensation mechanism, to compensate the energy stored in the compliant parts, resulting in a statically balanced compliant stage (SBCS). Statically balanced compliant stages can be a breakthrough in precision engineering. This paper presents an inventory of platforms suitable for the design of a 6 DoF compliant stage for precision engineering. A literature review on 3–6 DoF compliant stages, static balancing strategies and statically balanced compliant mechanisms (SBCMs) has been performed. A classification from the inventory has been made and followed up by discussion. An obviously superior architecture for a 6 DoF compliant stage was not found. All the 6 DoF stages are either non-statically balanced compliant structures or statically balanced non-compliant structures. The statically balanced non-compliant structures can be transformed into compliant structures using lumped compliance, while all SBCMs had distributed compliance. A 6 DoF SBCS is a great scope for improvements in precision engineering stages.
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Goldfarb, M., and J. E. Speich. "A Well-Behaved Revolute Flexure Joint for Compliant Mechanism Design." Journal of Mechanical Design 121, no. 3 (September 1, 1999): 424–29. http://dx.doi.org/10.1115/1.2829478.
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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.
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Xie, Yanlin, Yangmin Li, and Chifai Cheung. "Design and Modeling of a Novel Tripteron-Inspired Triaxial Parallel Compliant Manipulator with Compact Structure." Micromachines 13, no. 5 (April 27, 2022): 678. http://dx.doi.org/10.3390/mi13050678.
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Compliant mechanisms are popular to the applications of micro/nanoscale manipulations. This paper proposes a novel triaxial parallel-kinematic compliant manipulator inspired by the Tripteron mechanism. Compared to most conventional triaxial compliant mechanisms, the proposed manipulator has the merits of structure compactness and being free of assembly error due to its unique configuration and the utilize of 3D printing technology. The compliance matrix modeling method is employed to determine the input stiffness of the compliant manipulator, and it is verified by finite-element analysis (FEA). Results show that the deviations between simulation works and the derived analytical models are in an acceptable range. The simulation results also reveal that the compliant manipulator can achieve a 16 μm × 16 μm × 16 μm cubic workspace. In this motion range, the observed maximum stress is much lower than the yield strength of the material. Moreover, the dynamic characteristics of the manipulator are investigated via the simulations as well.
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Liu, Jingfang, Yanxia Cheng, Shuang Zhang, Zhenxin Lu, and Guohua Gao. "Design and Analysis of a Rigid-Flexible Parallel Mechanism for a Neck Brace." Mathematical Problems in Engineering 2019 (November 3, 2019): 1–20. http://dx.doi.org/10.1155/2019/9014653.
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A rigid-flexible parallel mechanism called 3-RXS mechanism as a neck brace for patients with head drooping symptoms (HDS) is presented. The 3-RXS neck brace has a simple and light structure coupled with good rotation performance, so it can be used to assist the neck to achieve flexion and extension, lateral bend, and axial torsion. Firstly, to prove that the X-shaped compliant joint has a rotational degree of freedom (DoF) and can be used in the 3-RRS spherical parallel mechanism (3-RRS SPM), the six-dimensional compliance matrix, axis drift, and DoF of the X-shaped compliant joint have been systematically calculated. Secondly, the 3-RXS mechanism and its pseudo-rigid-body model (PRBM) are obtained by replacing the revolute pair with the X-shaped compliant joint in the 3-RRS SPM. The rotation workspace of the 3-RXS mechanism is also performed. Finally, to verify the rotation function and effect of 3-RXS mechanism for neck-assisted rehabilitation, the kinematics simulations of the 3-RXS and 3-RRS mechanisms are carried out and compared with the theoretical result, and a primary experiment for rotation measurement of 3-RXS mechanism prototype is carried out. All results prove the feasibility of the 3-RXS mechanism for a neck brace.
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Wu, Xiaochuan, Yi Lu, Xuechao Duan, Dan Zhang, and Wenyao Deng. "Design and DOF Analysis of a Novel Compliant Parallel Mechanism for Large Load." Sensors 19, no. 4 (February 17, 2019): 828. http://dx.doi.org/10.3390/s19040828.
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The degree of freedom (DOF) and motion characteristics of a kind of compliant spherical joint were analyzed based on the screw theory, and a new design scheme for force-inversion of the compliant spherical joint was proposed in this paper. A novel type of six DOF compliant parallel mechanism (CPM) was designed based on this scheme to provide a large load capacity and achieve micrometer-level positioning accuracy. The compliance matrix of the new type of CPM was obtained through matrix transformation and was then decomposed into its generalized eigenvalues. Then, the DOF of the mechanism was numerically analyzed based on the symbolic formulation. The finite element analysis model of the compliant parallel mechanism was established. The static load analysis was used to verify the large load capacity of the mobile platform. By comparing the deformation obtained by the compliance matrix numerical method with the deformation obtained by the finite element method, the correctness of the compliance matrix and the number of the DOF of the CPM was verified.
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Tantanawat, Tanakorn, and Sridhar Kota. "Design of Compliant Mechanisms for Minimizing Input Power in Dynamic Applications." Journal of Mechanical Design 129, no. 10 (October 25, 2006): 1064–75. http://dx.doi.org/10.1115/1.2756086.
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In this paper, we investigate power flow in compliant mechanisms that are employed in dynamic applications. More specifically, we identify various elements of the energy storage and transfer between the input, external load, and strain energy stored within the compliant transmission. The goal is to design compliant mechanisms for dynamic applications by exploiting the inherent energy storage capability of compliant mechanisms in the most effective manner. We present a detailed case study on a flapping mechanism, in which we compare the peak input power requirement in a rigid-body mechanism with attached springs versus a distributed compliant mechanism. Through this case study, we present two approaches: (1) generative-load exploitation and (2) reactance cancellation, to describe the role of stored elastic energy in reducing the peak input power requirement. We propose a compliant flapping mechanism and its evaluation using nonlinear transient analysis. The input power needed to drive the proposed compliant flapping mechanism is found to be 50% less than a rigid-link four-bar flapping mechanism without a spring, and 15% less than the one with a spring. This reduction of peak input power is primarily due to the exploitation of elasticity in compliant members. The results show that a compliant mechanism can be a better alternative to a rigid-body mechanism with attached springs.
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Arunkumar, G., and P. S. S. Srinivasan. "Design of displacement amplifying compliant mechanisms with integrated strain actuator using topology optimization." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 220, no. 8 (August 1, 2006): 1219–28. http://dx.doi.org/10.1243/09544062jmes261.
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Compliant mechanisms are the focus of active research because of the stability, robustness, and ease of manufacturing endowed by their unitized construction. However, despite significant advances in the development of systematic design techniques for these mechanisms, currently compliant mechanisms are not capable of performing certain kinematic tasks that rigid body mechanisms can readily perform. This work explores the various advantages of the compliant mechanism and some of the difficulties in the design of the compliant mechanisms, and designing a compliant mechanism for displacement amplification of piezoelectric actuator is developed using a topological optimization approach. The overall stroke amplification of geometrical advantage of the mechanism and overall mechanical efficiency of the mechanism are considered as objective functions. The maximization of these objectives is accomplished using two different solution methods: a sequential linear programming and an optimality criteria method.
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Howell, L. L., and A. Midha. "A Loop-Closure Theory for the Analysis and Synthesis of Compliant Mechanisms." Journal of Mechanical Design 118, no. 1 (March 1, 1996): 121–25. http://dx.doi.org/10.1115/1.2826842.
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Compliant mechanisms gain at least some of their motion from flexible members. The combination of large-deflection beam analysis, kinematic motion analysis, and energy storage makes the analysis of compliant mechanisms difficult. The design of mechanisms often requires iteration between synthesis and analysis procedures. In general, the difficulty in analysis has limited the use of compliant mechanisms to applications where only simple functions and motions are required. The pseudo-rigid-body model concept promises to be the key to unifying the compliant and rigid-body mechanism theories. It simplifies compliant mechanism analysis by determining an equivalent rigid-body mechanism that accurately models the kinematic characteristics of a compliant mechanism. Once this model is obtained, many well known concepts from rigid-body mechanism theory become amenable for use to analyze and design compliant mechanisms. The pseudo-rigid-body-model concept is used to develop a loop-closure method for the analysis and synthesis of compliant mechanisms. The method allows compliant mechanisms to be designed for tasks that would have earlier been assumed to be unlikely, if not impossible, applications of compliant mechanisms.