Forward/inverse models using global coordinates for analytical design of compliant mechanisms
Journal
IEEE International Conference on Intelligent Robots and Systems
Start Page
4175
End Page
4180
ISSN
21530866
21530858
ISBN (of the container)
9781538680940
9781665479271
9781424402595
9781728162126
9781467317375
0780319338
1424409128
9781665417143
9781479999941
0780308239
Date Issued
2006
Author(s)
Lee, Kok-Meng Meng
Abstract
The analysis of compliant mechanisms has traditionally based on known initial shapes and external forces. For applications, it is often required to find an initial shape for the specified deformed shape of the mechanism. We present here the global coordinate model (GCM) with a numerical solver that is capable of forward and inverse analysis. The model uses the arc length as the independent variable so that the shape of straight and curved links can be easily expressed. The resulting governing equations are a generalization of Timoshenko's beam theory that accounts for the effects of bending and shear deformations on large-deflected links. The effect of shear deformation on link deflection will also be investigated. Systematic procedures are developed to analyze generic compliant mechanisms. Both forward and inverse illustrations are presented. Their applications for robotic handling of bio-material are also shown. It is expected that the proposed model can give more insight on the analysis and design of compliant mechanisms.
Event(s)
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Subjects
Compliant Mechanisms
Forward And Inverse Analyses
Shooting Method
Timoshenko's Beam Theory
Compliant Mechanisms
Forward And Inverse Analyses
Shooting Method
Timoshenko's Beam Theory
Inverse Kinematics
Mathematical Models
Numerical Methods
Problem Solving
Robotics
Description
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. Beijing. conference code:69773
Type
conference paper