Abstract
This paper presents a general approach for the kinetostatic modeling and analysis of closed-loop mechanisms consisting of both rigid and flexible links. Based on the principal axes decomposition of structural compliance matrix, the flexible links are approximated by hyperredundant linkages with rigid bodies connected by passive elastic joints. Hence, the kinetostatic analysis of rigid/flexible hybrid mechanisms can be formulated as static equilibrium problems of the approximate linkages which are regarded as hyperredundant underactuated multibody systems. By taking advantage of mechanism kinematics/statics, the large deflection problems of flexible links can be efficiently solved using the presented discretization-based approach. In order to demonstrate the effectiveness of the proposed method, a hybrid planar four-bar mechanism is provided as an example. And FEA simulations have been conducted to verify the correctness of obtained results.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Howell, L.: Compliant Mechanisms. John Wiley & Sons, New York (2001)
Saxena, R., Saxena, A.: Design of electrothermally compliant MEMS with hexagonal cells using local temperature and stress constraints. J. Mech. Des. 131(5), 051006 (2009)
Asbeck, A., Cutkosky, M.: Designing compliant spine mechanisms for climbing. J. Mech. Robot. 4(3), 031007 (2012)
Awtar, S., Slocum, A., Sevincer, E.: Characteristics of beam-based flexure modules. J. Mech. Des. 129(6), 625–639 (2007)
Zhang, A., Chen, G.: A comprehensive elliptic integral solution to the large deflection problems of thin beams in compliant mechanisms. J. Mech. Robot. 5(2), 021006 (2013)
Howell, L., Midha, A.: Parametric deflection approximations for end-loaded, large-deflection beams in compliant mechanisms. J. Mech. Des. 117(1), 156–165 (1995)
Su, H.: A pseudo-rigid-body 3R model for determining large deflection of cantilever beams subject to tip loads. J. Mech. Robot. 1(2), 021008 (2009)
Zhu, S., Yu, Y.: Pseudo-rigid-body model for the flexural beam with an inflection point in compliant mechanisms. J. Mech. Robot. 9(3), 031005 (2017)
Saxena, A., Ananthasuresh, G.: Topology synthesis of compliant mechanisms for nonlinear force-deflection and curved path specifications. J. Mech. Des. 123(1), 33–42 (2001)
Her, I., Methodology for compliant mechanisms design. Ph.D. thesis, Purdue University (1986)
Chen, G., Ma, F.: Kinetostatic modeling of fully compliant bistable mechanisms using Timoshenko beam constraint model. J. Mech. Des. 137(2), 022301 (2015)
Chen, G., Wang, H., Lin, Z., Lai, X.: The principal axes decomposition of spatial stiffness matrices. IEEE Trans. Robot. 31(1), 191–207 (2015)
Chen, G., Zhang, Z., Wang, H.: A general approach to the large deflection problems of spatial flexible rods using principal axes decomposition of compliance matrices. J. Mech. Robot. 10(3), 031012 (2018)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Chen, G., Zhang, Z., Chen, Z., Wang, H. (2019). A General Discretization-Based Approach for the Kinetostatic Analysis of Closed-Loop Rigid/Flexible Hybrid Mechanisms. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_31
Download citation
DOI: https://doi.org/10.1007/978-3-319-93188-3_31
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-93187-6
Online ISBN: 978-3-319-93188-3
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)