Synthesis of Compliant Multistable Mechanisms Through Use of a Single Bistable Mechanism

2011 ◽  
Vol 133 (8) ◽  
Author(s):  
Guimin Chen ◽  
Yanjie Gou ◽  
Aimei Zhang
Keyword(s):  
Stable Equilibrium ◽  
Compliant Mechanism ◽  
Power Input ◽  
Successful Operation ◽  
Actuation Force ◽  
New Approaches ◽  
Reconfigurable Robots ◽  
Bistable Mechanism

A compliant multistable mechanism is capable of steadily staying at multiple distinct positions without power input. Many applications including switches, valves, relays, positioners, and reconfigurable robots may benefit from multistability. In this paper, two new approaches for synthesizing compliant multistable mechanisms are proposed, which enable designers to achieve multistability through the use of a single bistable mechanism. The synthesis approaches are described and illustrated by several design examples. Compound use of both approaches is also discussed. The design potential of the synthesis approaches is demonstrated by the successful operation of several instantiations of designs that exhibit three, four, five, and nine stable equilibrium positions, respectively. The equations for determining the actuation force required to move a multistable mechanism are provided. The synthesis approaches enable us to design a compliant mechanism with a desired number of stable positions.

Achieving Multistability Through Use of a Single Bistable Compliant Mechanism

2010 ◽  
Author(s):  
Guimin Chen ◽  
Yanjie Gou ◽  
Aimei Zhang
Keyword(s):  
Stable Equilibrium ◽  
Compliant Mechanism ◽  
Power Input ◽  
Successful Operation ◽  
New Approaches ◽  
Reconfigurable Robots ◽  
Bistable Mechanism

A compliant multistable mechanism is capable of steadily staying at multiple distinct positions without power input. Many applications including switches, valves, relays, positioners, and reconfigurable robots may benefit from multistability. In this paper, two new approaches for synthesizing compliant multistable mechanisms are proposed, which enable designers to achieve multistability through the use of a single bistable mechanism. The synthesis approaches are described and illustrated by several design examples. Compound use of both approaches is also discussed. The design potential of the synthesis approaches is demonstrated by the successful operation of several instantiations of designs that exhibit three, four, five, and nine stable equilibrium positions, respectively. The synthesis approaches enable us to design a compliant mechanism with a desired number of stable positions.

Bistable Compliant Four-Bar Mechanisms With a Single Torsional Spring

2006 ◽  
Author(s):  
Adarsh Mavanthoor ◽  
Ashok Midha
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Mechanism Design ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Stored Energy ◽  
Element Analysis ◽  
Bistable Behavior ◽  
Torsional Spring ◽  
Bistable Mechanism

Significant reduction in cost and time of bistable mechanism design can be achieved by understanding their bistable behavior. This paper presents bistable compliant mechanisms whose pseudo-rigid-body models (PRBM) are four-bar mechanisms with a torsional spring. Stable and unstable equilibrium positions are calculated for such four-bar mechanisms, defining their bistable behavior for all possible permutations of torsional spring locations. Finite Element Analysis (FEA) and simulation is used to illustrate the bistable behavior of a compliant mechanism with a straight compliant member, using stored energy plots. These results, along with the four-bar and the compliant mechanism information, can then be used to design a bistable compliant mechanism to meet specified requirements.

Design of a Constant-Force Flexure Micropositioning Stage With Long Stroke

2015 ◽  
Author(s):  
Qingsong Xu
Keyword(s):  
Parametric Design ◽  
Compliant Mechanism ◽  
Analytical Models ◽  
Constant Force ◽  
Force Output ◽  
Element Analysis ◽  
Flexure Mechanism ◽  
Bistable Structure ◽  
Bistable Mechanism ◽  
Long Stroke

This paper presents the design and analysis a flexure-guided compliant micropositioning stage with constant force and large stroke. The constant force output is achieved by combining a bistable flexure mechanism with a positive-stiffness flexure mechanism. In consideration of the constraint of conventional tilted beam-based bistable mechanism, a new type of bistable structure based on tilted-angle compound parallelogram flexure is proposed to achieve a larger range of constant force output while maintaining a compact physical size. To facilitate the parametric design of the flexure mechanism, analytical models are derived to quantify the stage performance. The models are verified by carrying out nonlinear finite-element analysis. Results demonstrate the effectiveness of the proposed ideas for a long-stroke, constant-force compliant mechanism dedicated to precision micropositioning applications.

Bistable Configurations of Compliant Mechanisms Modeled Using Four Links and Translational Joints

2004 ◽  
Vol 126 (4) ◽  
pp. 657-666 ◽  
Author(s):  
Brian D. Jensen ◽  
Larry L. Howell
Keyword(s):  
Energy Storage ◽  
Prior Knowledge ◽  
Compliant Mechanisms ◽  
Power Input ◽  
Local Minima ◽  
Stored Energy ◽  
Bistable Behavior ◽  
Micro Electro Mechanical Systems ◽  
Bistable Mechanism ◽  
Mechanical Devices

Bistable mechanical devices remain stable in two distinct positions without power input. They find application in valves, switches, closures, and clasps. Mechanically bistable behavior results from the storage and release of energy, typically in springs, with stable positions occurring at local minima of stored energy. Compliant mechanisms offer an elegant way to achieve this behavior by incorporating both motion and energy storage into the same flexible element. Interest in compliant bistable mechanisms has also recently increased because of the advantages of bistable behavior in many micro-electro-mechanical systems (MEMS). Design of compliant or rigid-body bistable mechanisms typically requires simultaneous consideration of both energy storage and motion requirements. This paper simplifies this process by developing theory that provides prior knowledge of mechanism configurations that guarantee bistable behavior. Configurations which include one or more translational, or slider, joints are studied in this work. Several different mechanism types are analyzed to determine compliant segment placement that will ensure bistable mechanism operation. Examples demonstrate the power of the theory in design.

scholarly journals A bistable mechanism with linear negative stiffness and large in-plane lateral stiffness: design, modeling and case studies

2020 ◽  
Vol 11 (1) ◽  
pp. 75-89 ◽  
Author(s):  
Zhanfeng Zhou ◽  
Yongzhuo Gao ◽  
Lining Sun ◽  
Wei Dong ◽  
Zhijiang Du
Keyword(s):  
Vibration Isolation ◽  
Compliant Mechanism ◽  
Dynamic Stiffness ◽  
Negative Stiffness ◽  
Analytical Models ◽  
Lateral Stiffness ◽  
Constant Force ◽  
The Novel ◽  
Stiffness Characteristic ◽  
Bistable Mechanism

Abstract. To overcome the limitations of conventional bistable mechanisms, this paper proposes a novel type of bistable mechanism with linear negative stiffness and large in-plane lateral stiffness. By connecting the novel negative-stiffness mechanism in parallel with a positive-stiffness mechanism, a novel quasi-zero stiffness compliant mechanism is developed, which has good axial guidance capability and in-plane lateral anti-interference capability. Analytical models based on a comprehensive elliptic integral solution of bistable mechanism are established and then the stiffness curves of both conventional and novel bistable mechanisms are analyzed. The quasi-zero stiffness characteristic and High-Static-Low-Dynamic-Stiffness characteristic of the novel compliant mechanism are investigated and its application in constant-force mechanism and vibration isolator is discussed. A prototype with adjustable load-carrying capacity is designed and fabricated for experimental study. In the two experiments, the effectiveness of the proposed quasi-zero stiffness mechanism used in the field of constant-force output and vibration isolation is tested.

Shape-Morphing Using Bistable Triangles With Dwell-Enhanced Stability

2018 ◽  
Author(s):  
Rami Alfattani ◽  
Craig Lusk
Keyword(s):  
Compliant Mechanism ◽  
Isosceles Triangle ◽  
Vertex Angle ◽  
The Novel ◽  
Shape Morphing ◽  
Compliant Joints ◽  
Cube Corner ◽  
The Stability ◽  
Bistable Mechanism ◽  
Novel Design

This paper presents a new design concept for a morphing triangle-shaped compliant mechanism. The novel design is a bistable mechanism that has one changeable side. These morphing triangles may be arrayed to create shapemorphing structures. The mechanism was based on a six-bar dwell mechanism that can fit in a triangle shape and has stable positions at the motion-limit (dead-center) positions. An example of the triangle-shaped compliant mechanism was designed and prototyped: an isosceles triangle with a vertex that changes from 120 degrees to 90 degrees and vice versa. Three of these in the 120-degree configuration lie flat and when actuated to the 90-degree configuration become a cube corner. This design may be of use for folding and packaging assistance. The force analysis and the potential energy analysis were completed to verify the stability of the triangle-shaped compliant mechanism. Because of its dead-center motion limits the vertex angle cannot be extended past the range of 90 degrees to 120 degrees in spite of the mechanism’s compliant joints. Furthermore, because it is a dwell mechanism, the vertex angle is almost immobile near its stable configurations, although other links in the mechanism move. This makes the stable positions of the vertex angle robust against stress relaxation and manufacturing errors. We believe this is the first demonstration of this kind of robustness in bistable mechanisms.

Reliability-Based Optimal Design of a Bistable Compliant Mechanism

1993 ◽  
Author(s):  
L. L. Howell ◽  
S. S. Rao ◽  
A. Midha
Keyword(s):  
Stable Equilibrium ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Probabilistic Constraints ◽  
Probabilistic Design ◽  
Design Studies ◽  
Stable Equilibrium Position ◽  
Crank Mechanism ◽  
Insight Into ◽  
Input Torque

Abstract Compliant mechanisms obtain at least some of their motion from the deflection of their flexible members. Advantages of such mechanisms include the reduction of manufacturing and assembly cost and time. Bistable mechanisms are particularly useful in applications where two stable equilibrium positions are required, such as switches, gates, and closures. Fatigue is a major concern in many compliant mechanisms due to the cyclic stresses induced on the flexible members. In this paper, a method for the probabilistic design of a bistable compliant slider-crank mechanism is proposed. Link lengths, material properties, and cross-section dimensions are taken as random variables. Probabilistic constraints on the maximum and minimum required input torque, location of stable equilibrium position, and overall size are included. The objective function is the maximization of the mechanism reliability in fatigue. Several design studies are performed to gain further insight into the nature of the problem.

A Compliant On/Off Connection Mechanism for Preloading Statically Balanced Compliant Mechanisms

2012 ◽  
Author(s):  
Pieter J. Pluimers ◽  
Nima Tolou ◽  
Brian D. Jensen ◽  
Larry L. Howell ◽  
Just L. Herder
Keyword(s):  
Compliant Mechanisms ◽  
Mechanical Efficiency ◽  
Promising Method ◽  
Negative Stiffness ◽  
Operating Condition ◽  
Static Balancing ◽  
Zero Force ◽  
Actuation Force ◽  
Significant Challenge ◽  
Bistable Mechanism

Static balancing is an important contribution to compliant mechanisms enabling low operating force, thus allowing high mechanical efficiency. Preloading is generally needed in statically balanced compliant mechanisms, which at smaller scales presents a significant challenge. Physical handling of zero-force structures without causing damage also becomes difficult. This paper presents a solution to both of these issues. A novel compliant connection mechanism based on bistable beams was used to precisely preload the system in the direction of motion without backlash. Once this bistable mechanism is engaged by loading beyond its threshold, the system is in operating condition, i.e. the ON position. When the connection mechanism is disengaged (OFF position), it is much stiffer than it is in the statically balanced state and therefore more robust for handling purposes. As a demonstrator, we present the first statically balanced gripper with a fully compliant ON/OFF-connection mechanism allowing pre-loading collinear with the direction of motion. The combination of a pre-loaded bistable mechanism (i.e. negative stiffness) and a voluntary closing gripper (i.e. positive stiffness) is used for static balancing (i.e. zero stiffness and zero actuation force). The results show that the actuation force is reduced by at least 91% when the preload is engaged. The proposed ON/OFF connection shows a promising method for pre-loading compliant mechanisms or related devices.

scholarly journals A Bi-Stable von-Mises Truss for Morphing Applications Actuated Using Shape Memory Alloys

2013 ◽  
Author(s):  
Silvestro Barbarino ◽  
Farhan S. Gandhi ◽  
Rodolphe Visdeloup
Keyword(s):  
Equilibrium State ◽  
Shape Memory ◽  
Stable Equilibrium ◽  
The Other ◽  
Stable Equilibrium State ◽  
Actuation Force ◽  
Numerical Predictions ◽  
System Equilibrium ◽  
Governing Differential Equation ◽  
Von Mises

The present study focuses on a bi-stable von-Mises truss (VMT), with integrated Shape Memory Alloy (SMA) wires which are resistively heated to provide the actuation force to transition the VMT from one stable equilibrium condition to the other, and back. This coupled VMT-SMA system can potentially be used in structural morphing applications. The paper considers in detail the design of the system, equilibrium between the VMT and the SMA wires, the initial pre-stress required in the two SMA wires, explains how the active (heated) SMA wire drives the VMT beyond the unstable equilibrium state, and the VMT in moving to the second stable equilibrium state pre-stresses the passive (unheated) SMA wire. The two SMA wires switch roles in moving the VMT back from the second to the first stable equilibrium state. A prototype is designed and fabricated and the transition of the VMT from one equilibrium state to the other, and back, is experimentally demonstrated. The governing differential equation representing the VMT behavior is coupled with equations representing the SMA behavior based on the Brinson thermo-mechanical model. The numerical predictions of system displacements versus temperature and time show good correlation with experimental results.

Reliability-Based Optimal Design of a Bistable Compliant Mechanism

1994 ◽  
Vol 116 (4) ◽  
pp. 1115-1121 ◽  
Author(s):  
L. L. Howell ◽  
S. S. Rao ◽  
A. Midha
Keyword(s):  
Stable Equilibrium ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Probabilistic Constraints ◽  
Probabilistic Design ◽  
Design Studies ◽  
Stable Equilibrium Position ◽  
Crank Mechanism ◽  
Insight Into ◽  
Input Torque

Compliant mechanisms obtain at least some of their motion from the deflection of their flexible members. Advantages of such mechanisms include the reduction of manufacturing and assembly cost and time. Bistable mechanisms are particularly useful in applications where two stable equilibrium positions are required, such as switches, gates, and closures. Fatigue is a major concern in many compliant mechanisms due to the cyclic stresses induced on the flexible members. In this paper, a method for the probabilistic design of a bistable compliant slider-crank mechanism is proposed. Link lengths, material properties, and cross-section dimensions are taken as random variables. Probabilistic constraints on the maximum and minimum required input torque, location of stable equilibrium position, and overall size are included. The objective function is the maximization of the mechanism reliability in fatigue. Several design studies are performed to gain further insight into the nature of the problem.

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