Conceptual Design, Performance Evaluation and Dimensional Optimization of a Compact Acceleration Sensor Based on Flexure Parallel Mechanisms

2011 ◽  
Author(s):  
Dan Zhang ◽  
Zhen Gao
Keyword(s):  
Structure Evolution ◽  
Cantilever Beams ◽  
Parallel Mechanisms ◽  
Acceleration Sensor ◽  
Element Analysis ◽  
Revolute Joints ◽  
Kinematics Modeling ◽  
Population Genetic Algorithm ◽  
Monolithic Structure ◽  
Dimensional Optimization

In this paper, a tridimensional acceleration sensor based on flexure parallel mechanism (FPM) is presented. Three perpendicular compliant legs with compact monolithic structure are served as the elastic body for sensing the inertial signals in each direction. With integrated flexure hinges, each chain containing multiple revolute joints and cantilever beams are designed to carry compressive and tensile loads. Firstly, the structure evolution and kinematics modeling are introduced, followed by the multi-spring modeling of the directional compliance for the flexure leg. Then, the comprehensive finite-element analysis (FEA) including the strain of the sensitive legs, modal analysis for total deformation under different frequency is conducted. The compliances calculated by FEA and multi-spring model are compared. Finally, the dimensional optimization is implemented based on multi-population genetic algorithm to obtain the optimal flexure parameters. The proposed methods and algorithms are also useful for the analysis and development of other flexure parallel mechanisms.

Flexure Parallel Mechanism: Configuration and Performance Improvement of a Compact Acceleration Sensor

2012 ◽  
Vol 4 (3) ◽  
Author(s):  
Zhen Gao ◽  
Dan Zhang
Keyword(s):  
Parallel Mechanism ◽  
Structure Evolution ◽  
Cantilever Beams ◽  
Parallel Mechanisms ◽  
Acceleration Sensor ◽  
Element Analysis ◽  
Revolute Joints ◽  
Kinematics Modeling ◽  
And Performance ◽  
Monolithic Structure

This research presents a tridimensional acceleration sensor based on flexure parallel mechanism (FPM). Three perpendicular compliant limbs with compact monolithic structure are developed to serve as the elastic component for acquiring the inertial signals in each direction. With integrated flexure hinges, each chain containing multiple revolute joints and cantilever beams are designed to carry compressive and tensile loads. First, the structure evolution and kinematics modeling are introduced, followed by the multispring modeling of the directional compliance for the flexure limb. Then, the comprehensive finite-element analysis (FEA) including the strain of the sensitive limbs, modal analysis for total deformation under different frequency is conducted. The compliances calculated by FEA and multispring model are compared. Finally, the dimensional optimization is implemented based on multipopulation genetic algorithm to obtain the optimal flexure parameters. The proposed methods and algorithms are also useful for the analysis and development of other flexure parallel mechanisms.

Performance Decomposition and Integration of a Five-Degrees-of-Freedom Compliant Hybrid Parallel Micromanipulator

2014 ◽  
Author(s):  
Zhen Gao ◽  
Dan Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Cell Manipulation ◽  
Parallel Mechanisms ◽  
Element Analysis ◽  
Performance Visualization ◽  
Performance Decomposition ◽  
Open Issues ◽  
Dimensional Optimization

The research and development of parallel manipulators generally has two major streams, i.e. the macro/meso stream and the micro/nano stream, in which the former one has been thoroughly investigated in recent decades, while the latter one still remains many performance related open issues that significantly affect their application potentials in critical situations such as high-precision automated cell manipulation. This research is to develop a novel methodology called performance decomposition and integration for governing the design optimization process of complicated micromanipulator. A new five degrees-of-freedom (DOF) compliant hybrid parallel micromanipulator which is configured with five identical PSS limbs and one constraining UPU limb is proposed as a case study. The performance visualization, finite element analysis, and dimensional optimization are implemented. The proposed methodology is generic and feasible for the design improvement of different kinds of compliant/parallel mechanisms.

The Mixed-Body Model: A Method for Predicting Large Deflections in Stepped Cantilever Beams

2021 ◽  
pp. 1-18
Author(s):  
Brandon Sargent ◽  
Collin Ynchausti ◽  
Todd G Nelson ◽  
Larry L Howell
Keyword(s):  
Large Deflections ◽  
Cantilever Beams ◽  
Element Analysis ◽  
Body Model ◽  
Minimal Error ◽  
Small Deflection ◽  
Rigid Body Model ◽  
Expected Values ◽  
Deflection Theory ◽  
Sample Set

Abstract This paper presents a method for predicting endpoint coordinates, stress, and force to deflect stepped cantilever beams under large deflections. This method, the Mixed-Body Model or MBM, combines small deflection theory and the Pseudo-Rigid-Body Model for large deflections. To analyze the efficacy of the model, the MBM is compared to a model that assumes the first step in the beam to be rigid, to finite element analysis, and to the numerical boundary value solution over a large sample set of loading conditions, geometries, and material properties. The model was also compared to physical prototypes. In all cases, the MBM agrees well with expected values. Optimization of the MBM parameters yielded increased agreement, leading to average errors of <0.01 to 3%. The model provides a simple, quick solution with minimal error that can be particularly helpful in design.

A Parallely Actuated Work Support Module for Reconfigurable Machining Systems

1998 ◽  
Author(s):  
Venkat Gopalakrishnan ◽  
Sridhar Kota
Keyword(s):  
Machine Tool ◽  
Machine Tools ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Performance Criteria ◽  
Machining Accuracy ◽  
Parallel Mechanisms ◽  
Element Analysis ◽  
Work Support ◽  
Reconfigurable Machining

Abstract In order to respond quickly to changes in market demands and the resulting product design changes, machine tool manufacturers must reduce the machine tool design lead time and machine set-up time. Reconfigurable Machine Tools (RMTs), assembled from machine modules such as spindles, slides and worktables are designed to be easily reconfigured to accommodate new machining requirements. The essential characteristics of RMTs are modularity, flexibility, convertibility and cost effectiveness. The goal of Reconfigurable Machining Systems (RMSs), composed of RMTs and other types of machines, is to provide exactly the capacity and functionality, exactly when needed. The scope of RMSs design includes mechanical hardware, control systems, process planning and tooling. One of the key challenges in the mechanical design of reconfigurable machine tools is to achieve the desired machining accuracy in all intended machine configurations. To meet this challenge we propose (a) to distribute the total number of degrees of freedom between the work-support and the tool and (b) employ parallely-actuated mechanisms for stiffness and ease of reconfigurability. In this paper we present a novel parallely-actuated work-support module as a part of an RMT. Following a brief summary of a few parallel mechanisms used in machine tool applications, this paper presents a three-degree-of-freedom work-support module designed to meet the machining requirements of specific features on a family of automotive cylinder heads. Inverse kinematics, dynamic and finite element analysis are performed to verify the performance criteria such as workspace envelope and rigidity. A prototype of the proposed module is also presented.

Design and Characterization of Single Beam for Latching Electrothermal Microswitch

2012 ◽  
Vol 468-471 ◽  
pp. 286-289
Author(s):  
Ying Zhang ◽  
Hong Wang ◽  
Yan Wang ◽  
Sheng Ping Mao ◽  
Gui Fu Ding
Keyword(s):  
Mechanical Performance ◽  
Stable State ◽  
Cantilever Beams ◽  
Analysis Software ◽  
Stable States ◽  
Element Analysis ◽  
Single Beam ◽  
Fabrication And Characterization ◽  
Continuous Power

This paper presents the design, fabrication and characterization of single beam for latching electrothermal microswitch. This microswitch consists of two cantilever beams using bimorph electrothermal actuator with mechanical latching for performing low power bistable relay applications. A stable state can be acquired without continuous power which is only needed to switch between two stable states of the microactuator. The single beam is discussed mainly to judge the possibility of realizing the designed function. First, reasonable shape of the resistance is designed using finite element analysis software ANSYS. Then, mechanical performance was characterized by WYKO NT1100 optical profiling system, the tip deflection of single beam can meet the designed demand.

Predicting the Large Deflection Path of End-Loaded Tapered Cantilever Beams

2000 ◽  
Author(s):  
Matthew B. Parkinson ◽  
Gregory M. Roach ◽  
Larry L. Howell
Keyword(s):  
Mathematical Model ◽  
Finite Element Analysis ◽  
Finite Element ◽  
Euler Equation ◽  
Large Deflection ◽  
Nonlinear Finite Element ◽  
Cantilever Beams ◽  
Element Analysis ◽  
Moments Of Inertia ◽  
Physical Testing

Abstract A simple (quadratic) mathematical model for predicting the deflection path of both non-tapered and continuously tapered cantilever beams loaded with a vertical end force is presented. It is based on the proposition that the path is a function of the ratio of the endpoints’ moments of inertia. The model is valid for both small and large (the tip makes a 70 degree angle with the horizontal) deflections. This was verified through physical testing, comparison to solution of the Bernoulli-Euler equation, and results obtained through nonlinear finite element analysis. Predicted endpoint deflections were found to be accurate within 1.8% of the actual deflection path for moment of inertia ratios varying from 1:1 to 1000:1.

scholarly journals The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms

Robotics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 93
Author(s):  
Huiping Shen ◽  
Qing Xu ◽  
Ju Li ◽  
Ting-li Yang
Keyword(s):  
Parallel Mechanism ◽  
Selection Criterion ◽  
Parallel Mechanisms ◽  
Position Analysis ◽  
Kinematics Modeling ◽  
Position Solution ◽  
Independent Loops ◽  
Selection Of

The forward position solution (FPS) of any complex parallel mechanism (PM) can be solved through solving in sequence all of the independent loops contained in the PM. Therefore, when solving the positions of a PM, all independent loops, especially the first loop, must be correctly selected. The optimization selection criterion of the position analysis route (PAR) proposed for the FPS is presented in this paper, which can not only make kinematics modeling and solving efficient but also make it easy to get its symbolic position solutions. Two three-translation PMs are used as the examples to illustrate the optimization selection of their PARs and obtain their symbolic position solutions.

Dynamic Finite Element Analysis of a Highly Parallel Robotic Surface

2011 ◽  
Author(s):  
Chris Salisbury
Keyword(s):  
Finite Element ◽  
Degrees Of Freedom ◽  
Angular Displacement ◽  
Three Dimensional ◽  
Element Analysis ◽  
Revolute Joints ◽  
Stiffness Matrices ◽  
Joint Forces ◽  
Ricatti Equation ◽  
Optimal Dynamic

A novel three-dimensional robotic surface is devised using triangular modules connected by revolute joints that mimic the constraints of a spherical joint at each triangle intersection. The finite element method (FEM) is applied to the dynamic loading of this device using three dimensional (6 degrees of freedom) beam elements to not only calculate the cartesian displacement and force, but also the angular displacement and torque at each joint. In this way, the traditional methods of finding joint forces and torques are completely bypassed. An effiecient algorithm is developed to linearly combine local mass and stiffness matrices into a full structural stiffness matrix for the easy application of loads. An analysis of optimal dynamic joint forces is carried out in Simulink® with the use of an algebraic Ricatti equation.

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