Synthesis of Bistable Compliant Four-Bar Mechanisms Using Polynomial Homotopy

2006 ◽  
Vol 129 (10) ◽  
pp. 1094-1098 ◽  
Author(s):  
Hai-Jun Su ◽  
J. Michael McCarthy
Keyword(s):  
Compliant Mechanisms ◽  
Homotopy Continuation ◽  
Equilibrium Constraints ◽  
Equilibrium Equations ◽  
Kinematic Synthesis ◽  
Equilibrium Configurations ◽  
Form Design ◽  
Four Bar Linkage ◽  
Sine And Cosine Functions ◽  
Cosine Functions

In this paper we formulate and solve the synthesis equations for a compliant four-bar linkage with three specified equilibrium configurations in the plane. The kinematic synthesis equations as for rigid-body mechanisms are combined with equilibrium constraints at the flexure pivots to form design equations. These equations are simplified by modeling the joint angle variables in the equilibrium equations using sine and cosine functions. Polynomial homotopy continuation is applied to compute all of the design candidates that satisfy these design equations, which are refined using a Newton-Raphson technique. A numerical example demonstrates design methodology in which the homotopy solver obtained eight real solutions. Two of them provide two stable and one unstable equilibrium, and hence, can be used as the prototype of bistable compliant mechanisms.

Synthesis of Compliant Mechanisms With Specified Equilibrium Positions

2005 ◽  
Author(s):  
Hai-Jun Su ◽  
J. Michael McCarthy
Keyword(s):  
Compliant Mechanisms ◽  
Equilibrium Constraints ◽  
Equilibrium Equations ◽  
Equilibrium Configurations ◽  
Form Design ◽  
Design Requirements ◽  
Synthesis Procedure ◽  
Position Synthesis ◽  
Four Bar Linkage ◽  
Sine And Cosine Functions

This paper presents a synthesis procedure for a compliant four-bar linkage with three specified equilibrium configurations. The finite position synthesis equations are combined with equilibrium constraints at the flexure pivots to form design equations. These equations are simplified by modeling the joint angle variables in the equilibrium equations using sine and cosine functions. Solutions to these design equations were computed using a polynomial homotopy solver. In order to provide a design specification, we first compute the six equilibrium configurations of a known compliant four-bar mechanism. We use these results as design requirements to synthesize a compliant four-bar. The solver obtained eight real solutions which we refined using a Newton-Raphson technique. A numerical example is provided to verify the design methodology.

A Polynomial Homotopy Formulation of the Inverse Static Analysis of Planar Compliant Mechanisms

2005 ◽  
Vol 128 (4) ◽  
pp. 776-786 ◽  
Author(s):  
Hai-Jun Su ◽  
J. Michael McCarthy
Keyword(s):  
Potential Energy ◽  
Static Analysis ◽  
Compliant Mechanisms ◽  
Potential Energy Function ◽  
Equilibrium Equations ◽  
Equilibrium Configurations ◽  
Force Moment ◽  
Four Bar Linkage ◽  
Derivatives Of ◽  
Raphson Iteration

This paper formulates the inverse static analysis of planar compliant mechanisms in polynomial form. The goal is to find the equilibrium configurations of the system in response to a known force/moment applied to the mechanism. The geometric constraint of the linkage defines a set of kinematics equations which are combined with equilibrium equations obtained from partial derivatives of the potential-energy function. In order to apply polynomial homotopy solver to these equations, we approximate the linear torsion spring torque at each joint by using sine and cosine functions. The results obtained from the homotopy solver are then refined using Newton-Raphson iteration. To demonstrate the analysis steps, we study two example planar compliant mechanisms, a four-bar linkage with two torsional springs, and a parallel platform supported by three linear springs. Numerical examples are provided together with plots of the potential energy during a movement between selected equilibrium positions.

Design of Structures With Multiple Equilibrium Configurations

2018 ◽  
Author(s):  
Yang Li ◽  
Sergio Pellegrino
Keyword(s):  
Multiple Equilibrium ◽  
Design Parameters ◽  
Future Research ◽  
Equilibrium Constraints ◽  
Complex Problems ◽  
Equilibrium Configurations ◽  
Four Bar Linkage ◽  
Stable Structures

Being able to design structures with multiple equilibrium configurations is the basis for the design of multi-stable structures, which are of interest for future research on multi-configuration structures that require ‘simple’ actuation schemes. It is already known that adding elastic springs to a rigid mechanism can create structures with multiple equilibrium configurations. The spring properties, such as their rest positions, can be taken as design parameters that can be used to achieve specific equilibrium configurations of the structure. This paper provides a linearized formulation for the equilibrium constraints that can be solved for the rest positions of the springs. This method allows the design of specific equilibrium configurations. It can also handle more complex problems and is easier to solve in comparison to existent techniques. An example design of a four-bar linkage that has 5 equilibrium configurations is presented.

Some Mellin-type Definite Integrals Involving Sine and Cosine Functions

2019 ◽  
Vol 10 (1) ◽  
pp. 222-237
Author(s):  
M. I. Qureshi ◽  
Kaleem A. Quraishi ◽  
Dilshad Ahamad
Keyword(s):  
Definite Integrals ◽  
Sine And Cosine Functions ◽  
Cosine Functions

Geometric Design of Symmetric 3-RRS Constrained Parallel Platforms

2004 ◽  
Author(s):  
Eric Wolbrecht ◽  
Hai-Jun Su ◽  
Alba Perez ◽  
J. Michael McCarthy
Keyword(s):  
Geometric Design ◽  
Homotopy Continuation ◽  
Total Degree ◽  
Polynomial Equations ◽  
Dimensional Synthesis ◽  
Kinematic Synthesis ◽  
Real Solutions ◽  
Parallel Platform ◽  
Three Degree Of Freedom ◽  
Serial Chains

The paper presents the kinematic synthesis of a symmetric parallel platform supported by three RRS serial chains. The dimensional synthesis of this three degree-of-freedom system is obtained using design equations for each of three RRS chains obtained by requiring that they reach a specified set of task positions. The result is 10 polynomial equations in 10 unknowns, which is solved using polynomial homotopy continuation. An example is provided in which the direction of the first revolute joint (2 parameters) and the z component of the base and platform are specified as well as the two task positions. The system of polynomials has a total degree of 4096 which means that in theory it can have as many solutions. Our example has 70 real solutions that define 70 different symmetric platforms that can reach the specified positions.

SINS Installation Error Calibration Based on Multi-Position Combinations

2011 ◽  
Vol 383-390 ◽  
pp. 4213-4220
Author(s):  
Zhen Huan Wang ◽  
Xi Jun Chen ◽  
Qing Shuang Zeng
Keyword(s):  
Theoretical Analysis ◽  
Least Squares ◽  
Rotation Rate ◽  
Scale Factor ◽  
New Method ◽  
Earth’S Rotation ◽  
Earth's Rotation ◽  
Error Calibration ◽  
Sine And Cosine Functions ◽  
Cosine Functions

A new method is proposed to calibrate the installation errors of SINS. According to the method, the installation errors of the gyro and accelerometer can be calibrated simultaneously, which not depend on latitude, gravity, scale factor and earth's rotation rate. By the multi-position combinations, the installation errors of the gyro and accelerometer are modulated into the sine and cosine functions, which can be identified respectively based on the least squares. In order to verify the correctness of the theoretical analysis, the SINS is experimented by a three-axis turntable, and the installation errors of the gyro and accelerometer are identified respectively according to the proposed method. After the compensation of the installation error, the accuracy of the SINS is improved significantly.

THE KINEMATIC SYNTHESIS OF STEERING MECHANISMS

2000 ◽  
Vol 24 (3-4) ◽  
pp. 453-476 ◽  
Author(s):  
Jin Yao ◽  
Jorge Angeles
Keyword(s):  
Polynomial Equation ◽  
Global Optimum ◽  
Polynomial Equations ◽  
Kinematic Synthesis ◽  
Local Optima ◽  
Speed Reduction ◽  
Design Variables ◽  
Transmission Quality ◽  
Four Bar Linkage ◽  
Maximum Transmission

We propose a computational-kinematics approach based on elimination procedures to synthesize a steering four-bar linkage. In this regard, we aim at minimizing the root-mean square error of the synthesized linkage in meeting the steering condition over a number of linkage configurations within the linkage range of motion. A minimization problem is thus formulated, whose normality conditions lead to two polynomial equations in two unknown design variables. Upon eliminating one of these two variables, a monovariate polynomial equation is obtained, whose roots yield all locally-optimum linkages. From these roots, the global optimum, as well as unfeasible local optima, are readily identified. The global optimum, however, turns out to be impractical because of the large differences in its link lengths, which we refer to as dimensional unbalance. To cope with this drawback, we use a kinematically-equivalent focal mechanism, i.e., a six-bar linkage with an input-output function identical to that of the four-bar linkage. Given that the synthesized linkage requires a rotational input, as opposed to most existing steering linkages, which require a translational input, we propose a spherical four-bar linkage to drive the steering linkage. The spherical linkage is synthesized so as to yield a speed reduction as close as possible to 2:1 and to have a maximum transmission quality.

A frame-independent comparison metric for discrete motion sequences

2020 ◽  
Vol 234 (9) ◽  
pp. 1764-1774
Author(s):  
Ping Zhao ◽  
Yong Wang ◽  
Lihong Zhu ◽  
Xiangyun Li
Keyword(s):  
Moving Frame ◽  
Kinematic Synthesis ◽  
Reference Motion ◽  
Comparison Results ◽  
Synthesis Of Mechanisms ◽  
Rotational Part ◽  
The Difference ◽  
Four Bar Linkage ◽  
The Given ◽  
Discrete Motion

To evaluate the kinematic performance of designed mechanisms, a statistical-variance-based metric is proposed in this article to measure the “distance” between two discrete motion sequences: the reference motion and the given task motion. It seeks to establish a metric that is independent of the choice of the fixed frame or moving frame. Quaternions are adopted to represent the rotational part of a spatial pose, and the variance of the set of relative displacements is computed to reflect the difference between two sequences. With this variance-based metric formulation, we show that the comparison results of two spatial discrete motions are not affected by the choice of frames. Both theoretical demonstration and computational example are presented to support this conclusion. In addition, since the deviation error between the task motion and the synthesized motion measured with this metric is independent of the location of frames, those corresponding parameters could be excluded from the optimization algorithm formulated with our frame-independent metric in kinematic synthesis of mechanisms, and the complexity of the algorithm are hereby reduced. An application of a four-bar linkage synthesis problem is presented to illustrate the advantage of the proposed metric.

Controllability of stochastic nonlinear oscillating delay systems driven by the Rosenblatt distribution

2020 ◽  
pp. 1-23 ◽  
Author(s):  
T. Sathiyaraj ◽  
JinRong Wang ◽  
D. O'Regan
Keyword(s):  
Fixed Point Theory ◽  
Sufficient Conditions ◽  
Point Theory ◽  
Second Order ◽  
Delay Systems ◽  
Stochastic Delay ◽  
Finite Dimensional ◽  
Sine And Cosine Functions ◽  
Cosine Functions ◽  
Theoretical Results

Abstract In this paper, we study the controllability of second-order nonlinear stochastic delay systems driven by the Rosenblatt distributions in finite dimensional spaces. A set of sufficient conditions are established for controllability of nonlinear stochastic delay systems using fixed point theory, delayed sine and cosine matrices and delayed Grammian matrices. Furthermore, controllability results for second-order stochastic delay systems driven by Rosenblatt distributions via the representation of solution by delayed sine and cosine functions are presented. Finally, our theoretical results are illustrated through numerical simulation.

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