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.

Static Balancing of Four-Bar Linkages With Torsion Springs by Exerting Negative Stiffness Using Linear Spring at the Instant Center of Rotation

2020 ◽  
Author(s):  
Jorge A. Franco ◽  
Juan A. Gallego ◽  
Just L. Herder
Keyword(s):  
Compliant Mechanisms ◽  
Negative Stiffness ◽  
Path Generation ◽  
Static Balancing ◽  
Center Of Rotation ◽  
Straight Path ◽  
Body Model ◽  
Rigid Body Model ◽  
Linear Spring ◽  
Torsion Springs

Abstract A design approach for the quasi-static balancing of four-bar linkages with torsion springs is proposed. Such approach is useful on the design of statically balanced compliant mechanisms by setting the stiffness of the Pseudo-Rigid-Body-Model. Here the positive stiffness exhibited by torsion springs at the R-joints is compensated by a negative stiffness function. The negative stiffness is created by a non-zero-free-length linear spring connected between the coupler link and the ground, and where both connecting points trace a line directed to the coupler link’s instant center of rotation. An example of the static balancing of the Burmester’s linkage for straight path generation is developed, where actuation energy is reduced in 94% for a range of motion of 80 degrees for the input link.

Static Balancing of Four-Bar Compliant Mechanisms With Torsion Springs by Exerting Negative Stiffness Using Linear Spring At the Instant Center of Rotation

2021 ◽  
Vol 13 (3) ◽  
Author(s):  
Jorge A. Franco ◽  
Juan A. Gallego ◽  
Just L. Herder
Keyword(s):  
Compliant Mechanisms ◽  
Negative Stiffness ◽  
Path Generation ◽  
Static Balancing ◽  
Center Of Rotation ◽  
Straight Path ◽  
Body Model ◽  
Rigid Body Model ◽  
Linear Spring ◽  
Torsion Springs

Abstract A design approach for the quasi-static balancing of four-bar linkages with torsion springs is proposed. Such an approach is useful in the design of quasi-statically balanced fully compliant mechanisms by tuning the stiffness of the pseudo-rigid-body-model. Here, the positive stiffness exhibited by torsion springs at the R-joints is compensated by a negative stiffness function. The negative stiffness is created by a non-zero-free-length linear spring connected between the coupler link and the ground, and where both connecting points trace a line directed to the coupler link’s instant center of rotation. A full example of the static balancing of two compliant linkages for approximate straight path generation is developed, where actuation energy of the compliant designs is reduced in 66% and 54%, respectively.

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.

Piezoelectric Actuator Performance Metrics and Relation to Compliant Mechanism Design

2001 ◽  
Author(s):  
Hima Maddisetty ◽  
Mary Frecker
Keyword(s):  
Topology Optimization ◽  
Performance Metrics ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Mechanical Efficiency ◽  
High Energy ◽  
High Energy Density ◽  
High Bandwidth ◽  
Compliant Mechanism Design ◽  
Actuator Performance

Abstract Piezoceramic actuators have gained widespread use due to their desirable qualities of high force, high bandwidth, and high energy density. Compliant mechanisms can be designed for maximum stroke amplification of piezoceramic actuators using topology optimization. In this paper, the mechanical efficiency and other performance metrics of such compliant mechanism/actuator systems are studied. Various definitions of efficiency and other performance metrics of actuators with amplification mechanisms from the literature are reviewed. These metrics are then applied to two compliant mechanism example problems and the effect of the stiffness of the external load is investigated.

Effect of Matching Buckling Loads on Post-Buckling Behavior in Compliant Mechanisms

2021 ◽  
Author(s):  
A. Numić ◽  
T. W. A. Blad ◽  
F. van Keulen
Keyword(s):  
Compliant Mechanisms ◽  
Relative Length ◽  
Optimal Designs ◽  
Element Analysis ◽  
Buckling Loads ◽  
Actuation Force ◽  
Stepped Beam ◽  
Buckling Behavior ◽  
Post Buckling ◽  
Novel Method

Abstract In this paper, a novel method for stiffness compensation in compliant mechanisms is investigated. This method involves tuning the ratio between the first two critical buckling loads. To this end, the relative length and width of flexures in two architectures, a stepped beam and parallel guidance, are adjusted. Using finite element analysis, it is shown that by maximizing this ratio, the actuation force for transversal deflection in post-buckling is reduced. These results were validated experimentally by identifying the optimal designs in a given space and capturing the force-deflection characteristics of these mechanisms.

Application of Rigid-Body-Linkage Static Balancing Techniques to Reduce Actuation Effort in Compliant Mechanisms

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Sangamesh R. Deepak ◽  
Amrith N. Hansoge ◽  
G. K. Ananthasuresh
Keyword(s):  
Rigid Body ◽  
General Framework ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Small Length ◽  
Element Analysis ◽  
Static Balancing ◽  
Free Length ◽  
First Order ◽  
Taylor’S Series

There are analytical methods in the literature where a zero-free-length spring-loaded linkage is perfectly statically balanced by addition of more zero-free-length springs. This paper provides a general framework to extend these methods to flexure-based compliant mechanisms through (i) the well know small-length flexure model and (ii) approximation between torsional springs and zero-free-length springs. We use first-order truncated Taylor's series for the approximation between the torsional springs and zero-free-length springs so that the entire framework remains analytical, albeit approximate. Three examples are presented and the effectiveness of the framework is studied by means of finite-element analysis and a prototype. As much as 70% reduction in actuation effort is demonstrated. We also present another application of static balancing of a rigid-body linkage by treating a compliant mechanism as the spring load to a rigid-body linkage.

Dynamic Topology Optimization of Compliant Mechanisms and Piezoceramic Actuators

2002 ◽  
Author(s):  
Hima Maddisetty ◽  
Mary Frecker
Keyword(s):  
Topology Optimization ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Optimization Method ◽  
Mechanical Efficiency ◽  
Optimal Topology ◽  
Driving Frequency ◽  
Spring Stiffness ◽  
Piezoceramic Actuator ◽  
Near Resonance

A topology optimization method is developed to design a piezoelectric ceramic actuator together with a compliant mechanism coupling structure for dynamic applications. The objective is to maximize the mechanical efficiency with a constraint on the capacitance of the piezoceramic actuator. Examples are presented to demonstrate the effect of considering dynamic behavior compared to static behavior, and the effect of sizing the piezoceramic actuator on the optimal topology and the capacitance of the actuator element. Comparison studies are also presented to illustrate the effect of damping, external spring stiffness, and driving frequency. The optimal topology of the compliant mechanism is shown to be dependent on the driving frequency, the external spring stiffness, and if the piezoelectric actuator element is considered as design or non-design. At high driving frequencies, it was found that the dynamically optimized structure is very near resonance.

On the comprehensive static characteristic analysis of a translational bistable mechanism

2016 ◽  
Vol 230 (20) ◽  
pp. 3803-3817 ◽  
Author(s):  
Guangbo Hao ◽  
John Mullins
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Negative Stiffness ◽  
Beam Length ◽  
Rotational Stiffness ◽  
Characteristic Analysis ◽  
Element Analysis ◽  
Primary Motion ◽  
Bistable Mechanism ◽  
Inclined Angle

Bistable mechanisms have two stable positions and their characteristic analysis is much harder than the traditional spring system due to their postbuckling behaviour. As the strong nonlinearity induced by the postbuckling, it is difficult to establish a correct model to reveal the comprehensive nonlinear characteristics. This paper deals with the in-plane comprehensive static analysis of a translational bistable mechanism using nonlinear finite element analysis. The bistable mechanism consists of a pair of fixed-clamped inclined beams in symmetrical arrangement, which is a monolithic design and works within the elastic deformation domain. The displacement-controlled finite element analysis method using Strand7 is first discussed. Then the force–displacement relation of the bistable mechanism along the primary motion direction is described followed by the detailed primary translational analysis for different parameters. A simple analytical (empirical) equation for estimating the negative stiffness is obtained, and experimental testing is performed for a case study. It is concluded that (a) the negative stiffness magnitude has no influence from the inclined angle, but is proportional to the product of the Young’s modulus, beam depth, and cubic ratio for in-plane thickness to the beam length; (b) the unstable position is proportional to the product of the beam length and the Sine function of the inclined angle, and is not affected by the in-plane thickness and the material (or the out-of-plane thickness). The in-plane off-axis (translational and rotational) stiffness is further analysed to show the stiffness changes over the primary motion and the off-axis motion, and a negative rotational stiffness domain has been obtained.

Modeling and Experiments of Buckling Modes and Deflection of Fixed-Guided Beams in Compliant Mechanisms

2011 ◽  
Vol 133 (5) ◽  
Author(s):  
Gregory L. Holst ◽  
Gregory H. Teichert ◽  
Brian D. Jensen
Keyword(s):  
Compliant Mechanisms ◽  
Large Deflections ◽  
Buckling Mode ◽  
Buckling Modes ◽  
Reaction Forces ◽  
Combined Models ◽  
Modeling And Experiments ◽  
Beam Bending ◽  
Bending Behavior ◽  
Bistable Mechanism

This paper explores the deflection and buckling of fixed-guided beams used in compliant mechanisms. The paper’s main contributions include the addition of an axial deflection model to existing beam bending models, the exploration of the deflection domain of a fixed-guided beam, and the demonstration that nonlinear finite element models typically incorrectly predict a beam’s buckling mode unless unrealistic constraints are placed on the beam. It uses an analytical model for predicting the reaction forces, moments, and buckling modes of a fixed-guided beam undergoing large deflections. The model for the bending behavior of the beam is found using elliptic integrals. A model for the axial deflection of the buckling beam is also developed. These two models are combined to predict the performance of a beam undergoing large deflections including higher order buckling modes. The force versus displacement predictions of the model are compared to the experimental force versus deflection data of a bistable mechanism and a thermomechanical in-plane microactuator (TIM). The combined models show good agreement with the force versus deflection data for each device.

Design and Testing of a Thin-Flexure Bistable Mechanism Suitable for Stamping From Metal Sheets

2010 ◽  
Vol 132 (7) ◽  
Author(s):  
Benjamin Todd ◽  
Brian D. Jensen ◽  
Stephen M. Schultz ◽  
Aaron R. Hawkins
Keyword(s):  
Compliant Mechanisms ◽  
Elliptic Integral ◽  
Plane Motion ◽  
Acceleration Threshold ◽  
Metal Sheets ◽  
Out Of Plane ◽  
A New Technique ◽  
Bistable Mechanism ◽  
Force Displacement ◽  
Design And Testing

We present a new technique for fabricating compliant mechanisms from stamped metal sheets. The concept works by providing thinned segments to allow rotation of flexural beams 90 deg about their long axis, effectively providing a flexure as wide as the sheet’s thickness. The method is demonstrated with the design and fabrication of a metal bistable mechanism for use as a threshold accelerometer. A new model based on elliptic integral solutions is presented for bistable mechanisms incorporating long, thin flexures. The resulting metal bistable mechanisms are tested for acceleration threshold sensing using a drop test and a vibration test. The mechanisms demonstrate very little variation due to stress relaxation or temperature effects. The force-displacement behavior of a mechanism is also measured. The mechanisms’ switching force is less than the designed value because of out-of-plane motion and dynamic effects.

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