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Dearden, Jason Lon. "Design and Analysis of Two Compliant Mechanism Designs for Use in Minimally Invasive Surgical Instruments." BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/7383.
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Minimally invasive surgery (MIS) has several advantages over traditional methods. Scaling MIS instruments to smaller sizes and increasing their performance will enable surgeons to offer new procedures to a wider range of patients. In this work, two compliant mechanism-based minimally invasive surgical instrument wrist or gripper mechanisms are designed and analyzed.The cylindrical cross-axis flexural pivot (CCAFP) is a single-degree-of-freedom wrist mechanism that could be combined with existing gripper mechanisms to create a multi-degree-of freedom instrument. The simplicity of the CCAFP mechanism facilitates analysis and implementation. The flexures of the CCAFP are integral with the instrument shaft, enabling accessories to be passed through the lumen. The CCAFP is analyzed and determined to be a viable wrist mechanism for MIS instruments based on research results. A finite element (FE) model of the mechanism is created to analyze the force-deflection and strain-deflection relationships. Experimental results are used to verify the FE model. A 3 mm design is created that could undergo an angular deflection of +/- 90 degrees. The addition of cam surfaces to help guide the flexures and limit the maximum stress during deflection is explored. These cam surfaces can be integral to the instrument shaft along with the flexures. A 2 degree-of-freedom (DoF) CCAFP with intersecting axes of rotation is also introduced. The inverted L-Arm gripper compliant mechanism has 2 DoF, one wrist and one gripping. Three challenges associated with using compliant mechanisms in MIS instruments are considered: inadequate performance in compression, large flexure deformations, and a highly variable mechanical advantage. These challenges were resolved in the L-Arm design by inverting the flexures, tailoring flexure geometry and employing nitinol, and integrating pulleys into each jaw of the mechanism. The L-Arm was prototyped at several sizes to demonstrate functionality and scalability. A finite element model of the L-Arm flexure was created to determine the strain-deflection relationship. A fatigue test was completed to characterize nitinol for use in compliant mechanism MIS instruments.These concepts demonstrate the ability of compliant mechanisms to overcome the design and manufacturing challenges associated with MIS instruments at the 3 mm scale. The models and principles included in this work could be used in the application of compliant mechanisms to design new MIS instruments as well as in other areas that employ compliant mechanisms in a cylindrical form factor.
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Jensen, Brian D. "Identification of Macro- and Micro-Compliant Mechanism Configurations Resulting in Bistable Behavior." BYU ScholarsArchive, 2003. https://scholarsarchive.byu.edu/etd/83.
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The purpose of this research is to identify the configurations of several mechanism classes which result in bistable behavior. Bistable mechanisms have use in many applications, such as switches, clasps, closures, hinges, and so on. A powerful method for the design of such mechanisms would allow the realization of working designs much more easily than has been possible in the past. A method for the design of bistable mechanisms is especially needed for micro-electro-mechanical systems (MEMS) because fabrication and material constraints often prevent the use of simple, well-known bistable mechanism configurations. In addition, this knowledge allows designers to take advantage of the many benefits of compliant echanisms, especially their ability to store and release energy in their moving segments. Therefore, an analysis of a variety of mechanism classes has been performed to determine the configurations of compliant segments or rigid-body springs in a mechanism which result in bistable behavior. The analysis revealed a relationship between the placement of compliant segments and the stability characteristics of the mechanism which allows either analysis or synthesis of bistable mechanisms to be performed very easily. Using this knowledge, a method of type synthesis for bistable mechanisms has been developed which allows bistable mechanisms to be easily synthesized. Several design examples have been presented which demonstrate the method. The theory has also been applied to the design of several bistable micromechanisms. In the process of searching for usable designs for micro-bistable mechanisms, a mechanism class was defined, known as "Young" mechanisms, which represent a feasible and useful way of achieving micro-mechanism motion similar to that of any four-bar mechanism. Based on this class, several bistable micro-mechanisms were designed and fabricated. Testing demonstrated the ability of the mechanisms to snap between the two stable states. In addition, the mechanisms showed a high degree of repeatability in their stable positions.
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Mackay, Allen Boyd. "Large-displacement linear-motion compliant mechanisms /." Diss., CLICK HERE for online access, 2007. http://contentdm.lib.byu.edu/ETD/image/etd1845.pdf.
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Delimont, Isaac L. "Compliant Joints Suitable for Use as Surrogate Folds." BYU ScholarsArchive, 2014. https://scholarsarchive.byu.edu/etd/4231.
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Origami-inspired design is an emerging field capable of producing compact and efficient designs. The object of a surrogate fold is to provide a fold-like motion in a non-paper material without undergoing yielding. Compliant mechanisms provide a means to achieve these objectives as large deflections are achieved. The purpose of this thesis is to present a summary of existing compliant joints suitable for use as surrogate folds. In doing so, motions are characterized which no existing compliant joint provides. A series of compliant joints is proposed which provides many of these motions. The possibility of patterning compliant joints to form an array is discussed. Arrays capable of producing interesting motions are noted.
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Landsiedel, Nathan M. 1977. "Design of a formed - folded compliant layered mechanism." Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/30312.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.<br>Includes bibliographical references (p. 107-108).<br>The purpose of this research was to investigate a new method and a new practice of engineering low-cost, actuatable mechanisms. This work investigates the theory and practice which are needed to lay a foundation for the design of actuated mechanisms that consist of discrete functional sheets. The various requirements of traditional, functional components are embodied in sheets, or layers, of material rather than in discrete components (e.g. actuators, links, gears, etc...). The functional layers are designed to be bonded together in a way that forms an actuatable mechanism. These compliant layered mechanisms, CLMs, consist of four layers: (1) a skeleton cut from a single sheet of material that provides structural elements and compliant amplification mechanisms, (2) actuation, (3) control circuitry, and (4) sensors or other functional components as needed. This thesis presents the design, modeling, fabrication, and experimental validation of the CLM concept. Precision machines with integrated stiffness characteristics, actuation, and control circuitry are realized through forming / folding the CLM sheet. The CLM is implemented in a five axis nano-manipulator capable of a range of hundreds of microns and a resolution of tens of nanometers. The CLM manipulator is modeled using a node/beam stiffness matrix in CoMeTTM. The performance of the manipulator and the accuracy of the model are verified through a series of experiments in which the manipulator is made to translate (Y and Z) and rotate (OX). The skeleton of the CLM utilizes thin elliptical compliant amplifier mechanisms (TECAs) to provide amplification and guidance of the actuators.<br>(cont.) The behavior of the TECA is shown to be governed by the transmission ratio (amplification) and the ratio of the width to thickness of the flexure elements. A parametric design tool was developed enabling designers to predict and control the performance of TECAs subjected to a combination of desired and undesired forces through optimization of these key ratios. The CLM offers advantages in applications beyond manipulation which currently require costly mechanisms based on discrete functional components. Two such applications are morphing structures such as the Smart Wing under development by NASA and DARPA [1], and energy transducing and damping mechanisms.<br>by Nathan M. Landsiedel.<br>S.M.
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Zirbel, Shannon Alisa. "Compliant Mechanisms for Deployable Space Systems." BYU ScholarsArchive, 2014. https://scholarsarchive.byu.edu/etd/5612.
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The purpose of this research is to develop fundamentals of compliant mechanisms in deployable space systems. The scope was limited to creating methods for thick origami, developing compliant deployable solar arrays, and developing methods for stowing and deploying the arrays. The research on actuation methods was focused on a one-time deployment of the array. Concepts for both passive and active actuation were considered. The primary objective of this work was to develop approaches to accommodate thickness in origami-based deployable arrays with a high ratio of deployed-to-stowed diameter. The HanaFlex design was derived from the origami flasher model and is developed as a deployable solar array for large arrays (150 kW or greater) and CubeSat arrays (60 W). The origami folding concept enables compact stowage of the array, which would be deployed from a hexagonal prism into a flat array with about a 10-times increase in deployed diameter as compared to stowed diameter. The work on the origami pattern for the solar array was also applied to the folding of 80-100 m2 solar sails for two NASA CubeSat missions, NEA-Scout and Lunar Flashlight. The CubeSat program is a promising avenue to put the solar array or solar sails into space for testing and proving their functionality. The deployable array concept is easily scalable, although application to CubeSats changes some of the design constraints. The thickness-to-diameter ratio is larger, making the issues of thickness more pronounced. Methods of actuation are also limited on CubeSats because of the rigorous size and weight constraints. This dissertation also includes the development of a compact, self-deploying array based on a tapered map fold design. The tapered map fold was modified by applying an elastic membrane to one side of the array and adequately spacing the panels adjacent to valley folds. Through this approach, the array can be folded into a fully dense stowed volume. Potential applications for the array include a collapsible solar array for military or backpacking applications. Additional compliant mechanism design was done in support of the HanaFlex array. This included a serpentine flexure to attach the array to the perimeter truss for deployment, and a bistable mechanism that may be used in the deployment of the array or sail.
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Lan, Chao-Chieh. "Computational Models for Design and Analysis of Compliant Mechanisms." Diss., Georgia Institute of Technology, 2005. http://hdl.handle.net/1853/14076.
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We consider here a class of mechanisms consisting of one or more compliant members, the manipulation of which relies on the deflection of those members. Compared with traditional rigid-body mechanisms, compliant mechanisms have the advantages of no relative moving parts and thus involve no wear, backlash, noises and lubrication. Motivated by the need in food processing industry, this paper presents the Global Coordinate Model (GCM) and the generalized shooting method (GSM) as a numerical solver for analyzing compliant mechanisms consisting of members that may be initially straight or curved.
As the name suggests, the advantage of global coordinate model is that all the members share the same reference frame, and hence, greatly simplifies the formulation for multi-link and multi-axis compliant mechanisms. The GCM presents a systematic procedure with forward/inverse models for analyzing generic compliant mechanisms. Dynamic and static examples will be given and verified experimentally. We also develop the Generalized Shooting Method (GSM) to efficiently solve the equations given by the GCM. Unlike FD or FE methods that rely on fine discretization of beam members to improve its accuracy, the generalized SM that treats the boundary value problem (BVP) as an initial value problem can achieve higher-order accuracy relatively easily.
Using the GCM, we also presents a formulation based on the Nonlinear Constrained Optimization (NCO) techniques to analyze contact problems of compliant grippers. For a planar problem it essentially reduces the domain of discretization by one dimension. Hence it requires simpler formulation and is computationally more efficient than other methods such as finite element analysis.
An immediate application for this research is the automated live-bird transfer system developed at Georgia Tech. Success to this development is the design of compliant mechanisms that can accommodate different sizes of birds without damage to them. The feature to be monolithic also makes complaint mechanisms attracting in harsh environments such as food processing plants. Compliant mechanisms can also be easily miniaturized and show great promise in microelectromechanical systems (MEMS). It is expected that the model presented here will have a wide spectrum of applications and will effectively facilitate the process of design and optimization of compliant mechanisms.
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Stratton, Eric M. "Design and Analysis of a Compliant Mechanism Spinal Implant." BYU ScholarsArchive, 2010. https://scholarsarchive.byu.edu/etd/2441.
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This thesis introduces and presents the modeling of a novel compliant spinal implant designed to reduce back pain and restore function to degenerate spinal disc tissues as well as provide a mechanical environment conducive to healing the tissues. The initial objectives for this device development and the focus of this work are modeling and validation of the force-deflection relationships and stress analysis. Modeling was done using the pseudo-rigid-body model to create a 3 degree of freedom mechanism for flexion-extension (forward-backward bending) and a 5 degree of freedom mechanism for lateral bending (side-to-side). These models were analyzed using the principle of virtual work to obtain the force-deflection response of the device. The model showed good correlation to finite element analysis and experimental results. Also, described in this thesis is a model that incorporates an estimate of the combined stiffness of the biologic structures. This combined model is confirmed by cadaveric testing. A stress analysis of the implant for combined loading conditions is also presented. This work introduces and provides a foundation for the FlexSuRe™ spinal implant.
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Pendleton, Tyler M. "Design and Fabrication of Rotationally Tristable Compliant Mechanisms." Diss., CLICK HERE for online access, 2006. http://contentdm.lib.byu.edu/ETD/image/etd1552.pdf.
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Mackay, Allen B. "Large-Displacement Linear-Motion Compliant Mechanisms." BYU ScholarsArchive, 2007. https://scholarsarchive.byu.edu/etd/901.
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Linear-motion compliant mechanisms have generally been developed for small displacement applications. The objective of the thesis is to provide a basis for improved large-displacement linear-motion compliant mechanisms (LLCMs). One of the challenges in developing large-displacement compliant mechanisms is the apparent performance tradeoff between displacement and off-axis stiffness. In order to facilitate the evaluation, comparison, and optimization of the performance of LLCMs, this work formulates and presents a set of metrics that evaluates displacement and off-axis stiffness. The metrics are non-dimensionalized and consist of the relevant characteristics that describe mechanism displacement, off-axis stiffness, actuation force, and size. Displacement is normalized by the footprint of the device. Transverse stiffness is normalized by a new performance characteristic called virtual axial stiffness. Torsional stiffness is normalized by a performance characteristic called the characteristic torque. Because large-displacement compliant mechanisms are often characterized by non-constant axial and off-axis stiffnesses, these normalized stiffness metrics are formulated to account for the variation of both axial and off-axis stiffness over the range of displacement. In pursuit of mechanisms with higher performance, this work also investigates the development of a new compliant mechanism element. It presents a pseudo-rigid-body model (PRBM) for rolling-contact compliant beams (RCC beams), a compliant element used in the RCC suspension. The loading conditions and boundary conditions for RCC beams can be simplified to an equivalent cantilever beam that has the same force-deflection characteristics as the RCC beam. Building on the PRBM for cantilever beams, this paper defines a model for the force-deflection relationship for RCC beams. Included in the definition of the RCC PRBM are the pseudo-rigid-body model parameters that determine the shape of the beam, the length of the corresponding pseudo-rigid-body links and the stiffness of the equivalent torsional spring. The behavior of the RCC beam is parameterized in terms of a single parameter defined as clearance, or the distance between the contact surfaces. The RCC beams exhibit a unique force-displacement curve where the force is inversely proportional to the clearance squared. The RCC suspension is modeled using the newly defined PRBM. The suspension exhibits unique performance, generating no resistance to axial motion while providing significant off-axis stiffness. The mechanism has a large range of travel and operates with frictionless motion due to the rolling-contact beams. In addition to functioning as a stand-alone linear-motion mechanism, the RCC suspension can be configured with other linear mechanisms in superposition to improve the off-axis stiffness of other mechanisms without affecting their axial resistance.
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Fowler, Robert McIntyre. "Investigation of Compliant Space Mechanisms with Application to the Design of a Large-Displacement Monolithic Compliant Rotational Hinge." BYU ScholarsArchive, 2012. https://scholarsarchive.byu.edu/etd/3305.
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The purpose of this research is to investigate the use of compliant mechanisms in space applications and design, analyze, and test a compliant space mechanism. Current space mechanisms are already highly refined and it is unclear if significant improvements in performance can be made by continuing to refine current designs. Compliant 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. A compliant deployment hinge was selected for development after industry input was gathered. Concepts for large-displacement compliant hinges are investigated. A design process was developed that links the performance requirements of deployment to the design parameters of a deployment hinge. A large-displacement monolithic compliant rotational hinge, the Flex-16, is designed, analyzed, and tested. It was developed for possible application as a spacecraft deployment hinge and designs were developed using three different materials (polypropylene, titanium, and carbon nanotubes) and manufacturing processes (CNC milling, electron beam manufacturing metal rapid prototyping, and a carbon nanotube framework) on two size scales (macro and micro). A parametric finite element model allowed for prediction of prototype behavior before fabrication. The Flex-16 hinge is capable of 90 degrees of deflection without failure or contact and can be designed to meet industry requirements for space.
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Mellott, Sean Andrew. "Design of an actuation mechanism for compliant-body biomimetic robots." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/54516.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 63-64).<br>In this thesis, I designed and simulated an actuator mechanism for generating a moment within a compliant (soft) body system. The moment produces vibrational waves throughout a compliant material, and these vibrations are utilized to create biomimetic locomotion. The prototype actuator was developed for use in a fish tail, but it is hope that the actuation system can be applied in other robotic structures. The primary goals of this project included making gains in energy efficiency over previous embodiments, creating a compliant actuator that does not interfere with the natural body vibrations, and creating a system that can easily be modified to be used in a wide variety of soft-bodied systems. The system is also scalable to the size of the structure being actuated.<br>by Sean Andrew Mellott.<br>S.B.
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DiBiasio, Christopher M. (Christopher Michael). "Design and modeling of carbon nanotube-based compliant mechanisms." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/38544.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.<br>This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>Page 110 blank.<br>Includes bibliographical references (p. 97-100).<br>The objective of this research is to generate the knowledge required to adapt macro- and microscale compliant mechanism theory to design carbon nanotube-based nano-scale compliant mechanisms. Molecular simulations of a nano-scale parallel guiding mechanism uncovered three regions of behavior. Region I is governed by the bulk deformation of the carbon nanotubes. Region II is characterized by hinge-like flexing of four "kinks" that occur due to buckling of the carbon nanotube walls. Region III, an intermediate region, exhibits direction dependant behavior. We report on the ability of a conventional compliant mechanism modeling approach, the pseudo-rigid-body model, to predict the region I behavior of a nano-scale parallel guiding mechanism that uses single-walled (5,5) carbon nanotubes as the flexural elements. Van der Waals forces were found to affect the kinematic and elastomechanic behavior of the nano-scale parallel guiding mechanism. A modified value of the pseudo-rigid-body model stiffness coefficient is presented to capture the affect of van der Waals interactions within (5,5) nanotubes during region I operation.<br>(cont.) Molecular simulation of region I behaviors match the modified pseudo-rigid-body model predictions of (1) kinematic behavior with less than 7.3 % error and (2) elastomechanic behavior with less than 8 % error. Although region I is of the most interest because of its well-defined and stable nature, region II motion is also investigated to provide a basis for establishing future work in this region.<br>by Christopher M. DiBiasio.<br>S.M.
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Sung, Edward S. M. Massachusetts Institute of Technology. "Design and analysis of diagnostic machines utilizing compliant mechanisms." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/68861.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, June 2011.<br>"June 2011." Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 44).<br>In this paper, the design and testing of an ankle rehabilitation device is presented. The purpose of the research done is to provide physicians with a diagnostics tool that can quantitatively measure the severity of an injury by measuring the ankle joint's functional output. Torque and power output have been shown to be correlated with functional performance of the ankle joint. The device can measure torque and power output over the full range of motion of the ankle joint complex. Such a device has the potential to enable more accurate diagnoses and improve the efficacy of treatment and rehabilitation. The device allows rotation about the three orthogonal axes in the Cartesian plane. The rotations are linked in series to simulate ankle subjoint coupling. Cartwheel flexures with strain gages are aligned with the rotational axes and used as torque sensors. Strain gages are placed in a Wheatstone bridge circuit to mitigate environmental factors. Trials measured torque of the right ankle joint of test subjects from a standing position. Results show that the coupling of the two modes of ankle joint rotation (plantarflexion/dorsiflexion and inversion/eversion) are dependent on a subject's own development.<br>by Edward Sung.<br>S.B.
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Wang, Hongqing Vincent. "A Unit Cell Approach for Lightweight Structure and Compliant Mechanism." Diss., Georgia Institute of Technology, 2005. http://hdl.handle.net/1853/7561.
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Cellular structures are present from the atomic level all the way up to patterns found in human skeleton. They are prevailing structures in the nature and known for their excellent mechanical, thermal, and acoustic properties. Two typical types of cellular structures, lightweight structures and compliant mechanisms, are investigated. Lightweight structures are rigid and designed to reduce weight, while increasing strength and stiffness. Compliant mechanisms are designed to transform motions and forces. Most available artificial lightweight structures are patterns of primitives. However, the performance of lightweight structures can be enhanced by using adaptive cellular structures with conformal strut orientations and sizes, like the trabeculae in femoral bone. Bending, torsion, and nonlinear behaviors of compliant mechanisms have not been sufficiently studied.
In order to design adaptive cellular structures, a new unit cell, the unit truss is proposed. The unit truss approach facilitates the design of adaptive cellular structures for enhanced mechanical properties via geometric modeling, finite element analysis, shape optimization, and additive fabrication. Four research questions, which address representation, structural analysis, design synthesis, and manufacturing respectively, are raised and answered. Unit truss enables representation and mechanics analysis for adaptive cellular structures. A synthesis method using engineering optimization algorithms is developed to systematically design adaptive cellular structure. Two examples, graded cellular structure for prosthesis and compliant mechanism for morphing wings, are studied to test the unit truss approach.
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Liu, Yi Lin. "Design of a novel compliant gripper mechanism based on buckled fixed-guided beam." Thesis, University of Macau, 2017. http://umaclib3.umac.mo/record=b3691643.
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Olsen, Brian Mark. "A Design Framework that Employs a Classification Scheme and Library for Compliant Mechanism Design." BYU ScholarsArchive, 2010. https://scholarsarchive.byu.edu/etd/2298.
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Limited resources are currently available to assist engineers in implementing compliant members into mechanical designs. As a result, engineers often have little to no direction incorporating compliant mechanisms. This thesis develops a conceptual design framework and process that utilizes a proposed classification scheme and a library of mechanisms to help engineers incorporate compliant mechanisms into their applications. As the knowledge related to the synthesis and analysis of compliant mechanisms continues to grow and mature, and through the classification scheme established in this thesis, compliant mechanisms may become more extensively used in commercial mechanical designs. This thesis also demonstrates a design approach engineers can use to convert an existing rigid-body mechanism into a compliant mechanism by using the established classification scheme and a library of compliant mechanisms. This approach proposes two possible techniques that use rigid-body replacement synthesis in conjunction with a compliant mechanism classification scheme. One technique replaces rigid-body elements with a respective compliant element. The other technique replaces a complex rigid-body mechanism by decomposing the mechanism into simpler functions and then replacing a respective rigid-body mechanism with a compliant mechanism that has a similar functionality. These techniques are then demonstrated by developing and designing a competitive and feasible compliant road bicycle brake system.
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Crane, Nathan B. "Compliant Centrifugal Clutches: Design, Analysis, and Testing." BYU ScholarsArchive, 2003. https://scholarsarchive.byu.edu/etd/79.
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Existing classes of centrifugal clutch concepts were reviewed. The pseudo-rigid-body model (PRBM), rigid-body replacement synthesis, force-deflection analysis, compliance potential evaluation, and compliant concept evaluation were used to develop effective new centrifugal clutch concepts. These methods helped develop and model four novel compliant centrifugal clutch designs, model two existing designs, and identify a concept with excellent potential for low-cost centrifugal clutch applications. This concept, the floating opposing arm (FOA) clutch, doubles the torque capacity metric relative to existing compliant designs. Torque and engagement speed models for this clutch were developed and verified against four prototype clutches. Additional novel designs devel-oped through this work have lower torque capacities, but also show good potential because of other unique characteristics. All of the designs were prototyped and tested to measure their torque-speed relationships.
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Wiersdorf, Jason Matthew. "Preliminary Design Approach for Prosthetic Ankle Joints Using Compliant Mechanisms." BYU ScholarsArchive, 2005. https://scholarsarchive.byu.edu/etd/721.
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The objective of this thesis is to develop design approaches and models for prosthetic ankle joints using kinematic models of the human ankle and compliant mechanisms technology. Compliant mechanisms offer several potential design advantages over traditional rigid-body designs including high reliability and low cost. These design advantages are ideal for use in prosthetics. Some prosthetic ankle/foot systems currently on the market have multiple degrees of freedom yet are expensive. Additionally, even though these systems have multiple degrees of freedom, none of them are designed after the actual movements of the biological ankle. In this thesis a two, single degree-of-freedom hinge joint model, which is a kinematic model based on the biological ankle during walking, is used to develop compliant prosthetic ankle joints. The use of the model together with compliant mechanisms may provide the ability to develop highly functional prosthetic ankle joints at a lower cost than current high-performance prosthetic systems. Finally, a design approach for ankles may facilitate future development for knees, hips or other biological joints.
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Meaders, John Christian. "An Optimization-Based Framework for Designing Robust Cam-Based Constant-Force Compliant Mechanisms." BYU ScholarsArchive, 2008. https://scholarsarchive.byu.edu/etd/1423.
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Constant-force mechanisms are mechanical devices that provide a near-constant output force over a prescribed deflection range. This thesis develops various optimization-based methods for designing robust constant-force mechanisms. The configuration of the mechanisms that are the focus of this research comprises a cam and a compliant spring fixed at one end while making contact with the cam at the other end. This configuration has proven to be an innovative solution in several applications because of its simplicity in manufacturing and operation. In this work, several methods are introduced to design these mechanisms, and reduce the sensitivity of these mechanisms to manufacturing uncertainties and frictional effects. The mechanism's sensitivity to these factors is critical in small scale applications where manufacturing variations can be large relative to overall dimensions, and frictional forces can be large relative to the output force. The methods in this work are demonstrated on a small scale electrical contact on the order of millimeters in size. The method identifies a design whose output force is 98.20% constant over its operational deflection range. When this design is analyzed using a Monte Carlo simulation the standard deviation in constant force performance is 0.76%. When compared to a benchmark design from earlier research, this represents a 34% increase in constant-force performance, and a reduction from 1.68% in the standard deviation of performance. When this new optimal design is evaluated to reduce frictional effects a design is identifed that shows a 36% reduction in frictional energy loss while giving up, however, 18.63% in constant force.
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Petri, Patrick Andreas 1979. "A continuum mechanic design aid for non-planar compliant mechanisms." Thesis, Massachusetts Institute of Technology, 2002. http://hdl.handle.net/1721.1/8136.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2002.<br>Includes bibliographical references (p. 151-152).<br>This thesis documents the development of CoMeT, a conceptual evaluation and detailed synthesis aid for the design of compliant mechanisms. The vision behind CoMeT is making the limiting step in flexure design the speed of the user's imagination, not proficiency with software tools. Sophisticated kinematic analysis routines are seamlessly integrated into a three dimensional finite element program. A user may interface through both a convenient GUI and the powerful MATLAB command line. CoMeT's element models have been shown to generally lie within 3% of traditional FEA predictions. The experimentally determined response of a typical complex mechanism differed by less than 10%, and CoMeT proved to be just as accurate as conventional FEA. In a brief user interaction study, a subject with one hour of CoMeT training was able to perform a two-variable optimization in half the time it took with traditional software. Observations suggest that CoMeT encourages the conceptual thought and high-level insights that are the key to success in mechanism design.<br>by Patrick Andreas Petri.<br>S.M.
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Wiersdorf, Jason. "Preliminary design approach for prosthetic ankle joints using compliant mechanisms /." Diss., CLICK HERE for online access, 2005. http://contentdm.lib.byu.edu/ETD/image/etd1138.pdf.
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Seth, Utkarsh. "A virtual reality interface for the design of compliant mechanisms." [Ames, Iowa : Iowa State University], 2009. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:1473258.
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Alfattani, Rami. "Design of Shape-Morphing Structures Consisting of Bistable Compliant Mechanisms." Scholar Commons, 2019. https://scholarcommons.usf.edu/etd/7725.
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This dissertation presents a design concept for shape-morphing structures that have two stable configurations. The design concept defines the methodology of transforming a planar structural shape into spatial structural shape using bistable compliant mechanisms. Bistable complaint mechanisms are used to achieve structural stable configurations. The dissertation incorporating geometrical relationships for the mechanisms that form the primary structure described in step-by-step process. This dissertation implements the design layouts for designer to creating shape-morphing structures including origami. The novel contribution of the work is classified in three models. The first model presents a methodology to induce bistability behavior into an origami reverse fold and partially spherical compliant mechanism. The second model presents the design and development of a bistable triangle-shaped compliant mechanism with motion limits and dwell behavior at the two stable configurations. This mechanism can be arrayed to create shape-morphing structures. The third model presents a design and development for a collapsible bistable compliant mechanism used for a shape morphing lamina-emergent frustum. Finally, physical prototypes of all models are presented as proof of concept.
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Weight, Brent Lewis. "Development and Design of Constant-Force Mechanisms." BYU ScholarsArchive, 2002. https://scholarsarchive.byu.edu/etd/3.
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This thesis adds to the knowledge base of constant-force mechanisms (CFMs). It begins by reviewing past work done in the area of CFMs and then develops new nondimensionalized parameters that are used to simplify the calculations required to design a CFM. Comparison techniques are then developed that utilize these non-dimensionalized parameters to compare mechanisms based on stiffnesses, percent constant-force, actual lengths, normal displacements, and feasible design orientations. These comparison techniques are then combined with optimization to define new mechanisms with improved performance and range of capabilities. This thesis also outlines a design process, methods to identify mechanisms that are suitable for a given design problem, and relationships and trends between variables. The thesis concludes by discussing the adaptation of CFMs for use in electrical contacts and presenting the results of a design case study which successfully developed a constant-force electrical contact (CFEC).
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Shivers, Sarah E. (Sarah Elizabeth). "Design modeling and fabrication of experimental apparatus for compliant mechanism education kit." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40485.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.<br>Includes bibliographical references (p. 37).<br>The purpose of this thesis is to design an educational kit to be used to teach practicing engineers about recent developments in the study and design of flexures. Flexure theory can be difficult to explain. This kit is a physical example of the FACT method for designing flexures. The first flexure is a linear motion flexure, which is a familiar design to practicing precision engineers. The second design is a flexure which moves in a screw motion, which has never been built before. The design of the screw flexure uses the FACT method to combine constraints to create a linked linear and rotational motion. The screw flexure is also designed to have a variable pitch, such that it ranges from pure rotational motion to linear motion. This thesis contains the modeling, design, and fabrication process for both the linear and screw flexure. Two working prototypes were manufactured of each flexure. They are assembled on a baseplate and include sensors to measure the motion of each flexure. One kit was used to explain the concepts behind the design of the flexures to two students. They were then able to answer a few questions about the concepts after experimenting with the flexures.<br>by Sarah E. Shivers.<br>S.B.
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Niemeier, William. "Design and Testing of a Linear Compliant Mechanism with Adjustable Force Output." Scholar Commons, 2018. http://scholarcommons.usf.edu/etd/7203.
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This thesis presents a novel compliant mechanism with adjustable force output. The force comes from the bending of a rectangular cross section beam within the mechanism. By rotating this beam with a stepper motor, the force output of the mechanism changes. A model was made to simulate this mechanism, and a prototype was made based off of this data. A test apparatus was constructed around this mechanism, and a series of tests were performed. These tests adjusted parameters such as beam rotation speed and weight in order to characterize the system. Adjustments were made based on this information and the mechanism was refined. The results suggest the following. The speed has a negligible effect on the behavior of the system, while the weight, length of top link r3, and position of bottom stop have a significant effect. Also, there is a large, consistent amount of hysteresis in the system. This is likely caused by the beam storing torsion or friction from the slider.
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Slowe, Thomas J. (Thomas John) 1982. "Design of a prototyping press for 3-d monolithic compliant mechanisms." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/32787.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.<br>Includes bibliographical references (p. 38).<br>The Precision Systems Design and Manufacturing Lab at the Massachusetts Institute of Technology has the need for a metal forming device capable of applying a plastic deformation to two-dimensional sheet metal templates of up to 1/8-inch thickness and 8-inch diameter in order to transform them into prototype three-dimensional monolithic compliant mechanisms. These mechanisms have applications in industrial positioning as they are highly accurate and free from normal performance reducers such as friction, wear, and backlash. This thesis presents the design of a prototyping press capable of achieving the deformation required to produce the 3DMCMs from their 2D templates. The prototyping press that is developed herein utilizes a multiple-piston, hydropneumatic cylinder to deliver up to 5,000 lbf over a 4-inch stroke. The press offers force sensing to within 10%, displacement sensing to within 0.005 inches, and rate control centered around a 6-inch per minute average rate. It is powered by a compressed air supply at up to 100 psi and motion is controlled by a single electrical solenoid shut-off valve.<br>by Thomas J. Slowe.<br>S.B.
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BILANCIA, PIETRO. "Optimal Design of Beam-Based Compliant Mechanisms via Integrated Modeling Frameworks." Doctoral thesis, Università degli studi di Genova, 2020. http://hdl.handle.net/11567/1004042.
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Beam-based Compliant Mechanisms (CMs) are increasingly studied and implemented in precision engineering due to their advantages over the classic rigid-body mechanisms, such as scalability and reduced need for maintenance. Straight beams with uniform cross section are the basic modules in several concepts, and can be analyzed with a large variety of techniques, such as Euler-Bernoulli beam theory, Pseudo-Rigid Body (PRB) method, chain algorithms (e.g.~the Chained Beam-Constraint Model, CBCM) and Finite Element Analysis (FEA). This variety is unquestionably reduced for problems involving special geometries, such as curved or spline beams, variable section beams, nontrivial shapes and, eventually, contacts between bodies. 3D FEA (solid elements) can provide excellent results but the solutions require high computational times. This work compares the characteristics of modern and computationally efficient modeling techniques (1D FEA, PRB method and CBCM), focusing on their applicability in nonstandard problems. In parallel, as an attempt to provide an easy-to-use environment for CM analysis and design, a multi-purpose tool comprising Matlab and modern Computer-Aided Design/Engineering (CAD/CAE) packages is presented. The framework can implement different solvers depending on the adopted behavioral models. Summary tables are reported to guide the designers in the selection of the most appropriate technique and software architecture. The second part of this work reports demonstrative case studies involving either complex shapes of the flexible members or contacts between the members. To improve the clarity, each example has been accurately defined so as to present a specific set of features, which leads in the choice of a technique rather than others. When available, theoretical models are provided for supporting the design studies, which are solved using optimization approaches. Software implementations are discussed throughout the thesis. Starting from previous works found in the literature, this research introduces novel concepts in the fields of constant force CMs and statically balanced CMs. Finally, it provides a first formulation for modeling mutual contacts with the CBCM. For validation purposes, the majority of the computed behaviors are compared with experimental data, obtained from purposely designed test rigs.
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Greenberg, Holly. "The Application of Origami to the Design of Lamina Emergent Mechanisms (LEMs) with Extensions to Collapsible, Compliant and Flat-Folding Mechanisms." BYU ScholarsArchive, 2012. https://scholarsarchive.byu.edu/etd/3210.
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Lamina emergent mechanisms (LEMs) are a subset of compliant mechanisms which are fabricated from planar materials; use compliance, or flexibility of the material, to transfer energy; and have motion that emerges out of the fabrication plane. LEMs provide potential design advantages by reducing the number of parts, reducing cost, reducing weight, improving recyclability, increasing precision, and eliminating assembly, to name a few. However, there are inherent design and modeling challenges including complexities in large, non-linear deflections, singularities that exist when leaving the planar state, and the coupling of material properties and geometry in predicting mechanism behavior. This thesis examines the planar and spherical LEMs and their relation to origami. Origami, the art of paper folding, is used to better understand spherical LEMs and flat-folding mechanisms in general. All single-layer planar four-bar LEMs are given with their respective layouts. These are all change-point pinned mechanisms (i.e. no slider cranks). Graph representations are used to show the similarities between action origami and mechanisms. Origami principles of flat-folding are shown to be analogous to principles of mechanisms including rules for assembly and motion.
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Shi, Hongliang. "Modeling and Analysis of Compliant Mechanisms for Designing Nanopositioners." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1385484917.
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Tamer, Keskin. "Design Of A Compliant Mechanism To Amplify The Stroke Of A Piezoelectric Stack Actuator." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615747/index.pdf.
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Main objective of this study is to design a compliant mechanism with high frequency and high mechanical amplification ratio to be used for amplifying the stroke of a piezostack actuator. In this thesis, first of all, related literature is investigated and then alternative conceptual designs are established utilizing the mechanisms found in literature survey. Once best conceptual design is selected, detailed design of this mechanism is done. For detailed design of the compliant mechanism, topology optimization method is used in this study. To design the mechanism, first a design domain is defined and then a finite element model of the design domain is prepared to be used in topology optimization runs. After running the topology optimization model by using TOSCA with ANSYS, results are imported to ANSYS, where final performance of the mechanism design is checked. After finalizing design of the mechanism, it is produced and its performance is tested through experiments.
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Keskin, Tamer. "Design Of A Compliant Mechanism To Amplify The Stroke Of A Piezoelectric Stack Actuator." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615751/index.pdf.
Pełny tekst źródłaStreszczenie:
Main objective of this study is to design a compliant mechanism with high frequency and high mechanical amplification ratio to be used for amplifying the stroke of a piezostack actuator. In this thesis, first of all, related literature is investigated and then alternative conceptual designs are established utilizing the mechanisms found in literature survey. Once best conceptual design is selected, detailed design of this mechanism is done. For detailed design of the compliant mechanism, topology optimization method is used in this study. To design the mechanism, first a design domain is defined and then a finite element model of the design domain is prepared to be used in topology optimization runs. After running the topology optimization model by using TOSCA with ANSYS, results are imported to ANSYS, where final performance of the mechanism design is checked. After finalizing design of the mechanism, it is produced and its performance is tested through experiments.
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Tanik, Engin. "On The Analysis And Design Of A New Type Of Partially Compliant Mechanism." Phd thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/3/12608499/index.pdf.
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In this study analysis and design procedures of partially compliant mechanisms using two degree of freedom mechanism model are developed. The flexible segments are modeled as revolute joints with torsional springs. While one freedom is controlled by the input to the mechanism, the motion of the parts are governed both by the kinematics and the force balance. The procedure developed for the analysis of such mechanisms is shown on two different mechanisms: a five link mechanism with crank input and slider output (five-bar mechanism)<br>a five link mechanism with crank input and rocker output. Design charts are prepared according to output-link oscillation and dimensionless design parameters
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Hu, Ruiqi. "A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism." The Ohio State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=osu1511796200603533.
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Dirksen, Frank [Verfasser]. "Non-intuitive Design of Compliant Mechanisms Possessing Optimized Flexure Hinges / Frank Dirksen." Hamburg : Helmut-Schmidt-Universität, Bibliothek, 2014. http://d-nb.info/1046797948/34.
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Szczesny, Spencer E. 1981. "Design of compliant mechanisms for attenuation of unidirectional vibrations in rotational systems." Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/27880.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.<br>This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>Includes bibliographical references (leaves 146-148).<br>The purpose of this research was to generate the knowledge required to design compliant mechanisms that (1) attenuate undesired small-motion angular vibrations in rotational power transmission systems and (2) preserve the desired transmission of large-motion torque/angle inputs. This thesis investigates the design of vibration attenuating compliant mechanisms that are directly integrated into the load path of rotational systems. These devices enable designers to attenuate the amplitude of undesirable vibrations while simultaneously optimizing the transmission of torque inputs. The design, modeling, fabrication and experimental validation of two Compliant Vibration Attenuator (CVA) concepts will be presented. The first device, the Small Amplitude Vibration Isolator (SAVI), is a non-linear compliant device that isolates a resonating or non-resonating rotational system from vibrations by acting as a mechanical lowpass filter. The second device, the Damping Vibration Link (DVL) utilizes compliance and damping to attenuate undesired vibrations due to resonance. A linear lumped parameter model was created in Matlab® to simulate the static and dynamic characteristics of rotational power transmission systems. This model enables one to determine the dynamic characteristics of a system for a given set of inputs, thereby making it possible to (1) understand the requirements for the CVA and (2) ascertain the effect of the CVA on the system. Finite-element simulations were conducted to verify an empirical, parametric model that describes the performance of a SAVI as a function of its stiffness parameters.<br>(cont.) Proof-of-concept prototypes were tested to verify performance predictions and to determine the practical issues related to implementation. The thesis concludes with a case study which demonstrates the effectiveness of a SAVI when integrated into the steering system of a light-duty pickup truck. The SAVI was shown to offer a 60% reduction in vibration amplitude by trading off 7 ms of delay in steering wheel-vehicle response.<br>by Spencer E. Szczesny.<br>S.M.
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Laird, Holly B. "Design of a metrology & characterization system for a compliant mechanisms course." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/43010.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, February 2008.<br>Includes bibliographical references (leaf 34).<br>The purpose of this thesis was to learn about creating an educational kit as a tool for teaching professional engineers in industry about the theory of Freedom and Constraint Topology (FACT), and the new types of flexures that can be designed using this process. The importance of this thesis lies in the benefits compliant mechanisms give to precision engineering. The impact, by improving the quality of designs capable by professional engineers by teaching them about using FACT to design flexures, will contribute to higher quality, more agile, and more reliable technology worldwide. The metrological systems designed for the kit were comprised of a system of sensors and data collection apparati to analyze the physical characteristics of a particular type of flexure known as a "screw flexure", a compliant mechanism that has a single degree of freedom with coupled translational and rotational motion. Using lead weights of V4 to 2 pounds and two Mitutoyo #ID-S1012E digital Dial Indicators, measurements were taken for the translational and rotational deflection of the screw flexure. The pitch of the screw flexure was found to be 10.512 in/rad, which was a 9.4% error from the expected value of 11.5 in/rad. The experimental setup was a successful tool for teaching FACT methodology in the specific case of the screw flexure.<br>by Holly B. Laird.<br>S.B.
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Zhou, Lifeng. "Design Modeling and Analysis of Compliant and Rigid-Body DNA Origami Mechanisms." The Ohio State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=osu1492793740662906.
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Halverson, Peter Andrew. "Modeling, Design, and Testing of Contact-Aided Compliant Mechanisms in Spinal Arthroplasty." BYU ScholarsArchive, 2010. https://scholarsarchive.byu.edu/etd/2168.
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Injury, instrumentation, or surgery may change the functional biomechanics of the spine. Spinal fusion, the current surgical treatment of choice, stabilizes the spine by rigid fixation, reducing spinal mobility at the cost of increased stress at adjacent levels. Recently, alternatives to spinal fusion have been investigated. One such alternative is total disc replacements. The current generation of total disc replacements (TDRs) focuses on restoring the quantity of motion. Recent studies indicate that the moment-rotation response and axis of rotation, or quality of motion (QOM), may have important implications in the health of adjacent segments as well as the health of the surrounding tissue of the operative level. This dissertation examines the use of compliant mechanism design theory in the design and analysis of spinal arthroplasty devices. Particularly, compliant mechanism design techniques were used to develop a total disc replacement capable of replicating the normal moment-rotation response and location and path of the helical axis of motion. Closed-form solutions for the device's performance are proposed and a physical prototype was created and evaluated under a modified F1717 and a single-level cadaveric experiment. The results show that the prototype's QOMclosely matched the selected force-deflection response of the specified QOM profile. The use of pseudo-rigid-body modeling to evaluate the effects of various changes on motion at adjacent segments is also investigated. The ability to model biomechanical changes in the spine has traditionally been based on animal models, in vitro testing, and finite element analysis. These techniques, although effective, are costly. As a result, their use is often limited to late in the design process. The pseudo-rigid-body model (PRBM) developed accurately predicted the moment-rotation response of the entire specimen and the relative contribution of each level. Additionally, the PRBM was able to predict changes in relative motion patterns of the specimen due to instrumentation.
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Socha, Kevin G. "Design of a compliant end effector for grasping non-rigid materials." Thesis, Georgia Institute of Technology, 2003. http://hdl.handle.net/1853/17986.
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Lyon, Scott M. "The pseudo-rigid-body model for dynamic predictions of macro and micro compliant mechanisms /." Diss., CLICK HERE for online access, 2003. http://contentdm.lib.byu.edu/ETD/image/etd219.pdf.
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Liu, Chih-Hsing. "A finite element based dynamic modeling method for design analysis of flexible multibody systems." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/39605.
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This thesis develops a finite element based dynamic modeling method for design and analysis of compliant mechanisms which transfer input force, displacement and energy through elastic deformations. Most published analyses have largely based on quasi-static and lump-parameter models neglecting the effects of damping, torsion, complex geometry, and nonlinearity of deformable contacts. For applications such as handling of objects by the robotic hands with multiple high-damped compliant fingers, there is a need for a dynamic model capable of analyzing the flexible multibody system. This research begins with the formulation of the explicit dynamic finite element method (FEM) which takes into account the effects of damping, complex geometry and contact nonlinearity. The numerical stability is considered by evaluating the critical time step in terms of material properties and mesh quality. A general framework incorporating explicit dynamic FEM, topology optimization, modal analysis, and damping identification has been developed. Unlike previous studies commonly focusing on geometry optimization, this research considers both geometric and operating parameters for evaluation where the dynamic performance and trajectory of the multibody motion are particularly interested. The dynamic response and contact behavior of the rotating fingers acting on the fixed and moving objects are validated by comparing against published experimental results. The effectiveness of the dynamic modeling method, which relaxes the quasi-static assumption, has been demonstrated in the analyses of developing an automated transfer system involved grasping and handling objects by the compliant robotic hands. This FEM based dynamic model offers a more realistic simulation and a better understanding of the multibody motion for improving future design. It is expected that the method presented here can be applied to a spectrum of engineering applications where flexible multibody dynamics plays a significant role.
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Sauter, Michael. "A graph-based optimization method for the design of compliant mechanisms and structures /." Zürich : ETH, 2008. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=17787.
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Cheng, Wei-Jen. "Design and fabrication of electrothermal micromotors and compliant mechanisms for spatial parallel micromanipulators." College Park, Md. : University of Maryland, 2005. http://hdl.handle.net/1903/3308.
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Thesis (Ph. D.) -- University of Maryland, College Park, 2005.<br>Thesis research directed by: Mechanical Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
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Ryan, Mark. "Design Optimization and Classification of Compliant Mechanisms for Flapping Wing Micro Air Vehicles." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1345403446.
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Kalpathy, Venkiteswaran Venkatasubramanian. "Development of a Design Framework for Compliant Mechanisms using Pseudo-Rigid-Body Models." The Ohio State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=osu1482232749828813.
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Wittwer, Jonathan W. "Simulation-Based Design Under Uncertainty for Compliant Microelectromechanical Systems." Diss., CLICK HERE for online access, 2005. http://contentdm.lib.byu.edu/ETD/image/etd723.pdf.
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Butler, Jared J. "On Creases and Curved Links: Design Approaches for Predicting and Customizing Behaviors in Origami-Based and Developable Mechanisms." BYU ScholarsArchive, 2020. https://scholarsarchive.byu.edu/etd/8651.
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This work develops models and tools to help designers address the challenges associated with designing origami-based and developable mechanisms. These models utilize strain energy, kinematics, compliant mechanisms, and graphical techniques to make the design of origami-based and developable mechanisms approachable and intuitive. Origami-based design tools are expanded through two methods. First presented is a generalized approach for identifying single-output mechanical advantage for a multiple-input compliant mechanism, such as many origami-based mechanisms. The model is used to predict the force-deflection behavior of an origami-based mechanism (Oriceps) and is verified with experimental data from magnetic actuation of the mechanism. Second is a folding technique for thick-origami, called the regional-sandwiching of compliant sheets (ReCS), which creates flat-foldable, rigid-foldable, and self-deploying thick origami-based mechanisms. The technique is used to create mountain/valley assignments for each fold about a vertex, constraining motion to a single branch of folding. Strain energy in deflected flexible members is used to enable self-deployment. Three physical models, a simple single-fold mechanism, a degree-four vertex mechanism, and a full tessellation, are presented to demonstrate the ReCS technique. Developable mechanism design is further enabled through an exploration of their feasible design space. Terminology is introduced to define the motion of developable mechanisms while interior and exterior to a developable surface. The limits of this motion are identified using defined conditions. It is shown that the more difficult of these conditions may be treated as a non-factor during the design of cylindrical developable mechanisms given certain assumptions. These limits are then applied to create a resource for designing bistable developable mechanisms (BDMs) that reach their second stable positions while exterior or interior to a cylindrical surface. A novel graphical method for identifying stable positions of linkages using a single dominant torsional spring, called the Principle of Reflection, is introduced and implemented. The results are compared with a numerical simulation of 30,000+ mechanisms to identify possible incongruencies. Two tables summarize the results as the guide for designing extramobile and intramobile BDMs. In fulfilling the research objectives, this dissertation contributes to the scientific community of origami-based and developable mechanism design approaches. As a result of this work, practitioners will be better able to approach and design complex origami-based and developable mechanisms.
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Landon, Steven D. "Development of Deployable Wings for Small Unmanned Aerial Vehicles Using Compliant Mechanisms." Diss., CLICK HERE for online access, 2007. http://contentdm.lib.byu.edu/ETD/image/etd1917.pdf.
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