Dynamic model of mechanisms with highly compliant members
Journal Volume
74 DSC
Journal Issue
2 PART B
Start Page
1743
End Page
1750
ISBN (of the container)
0791810976
9780791842164
0791810933
0791808637
0791807444
079181114X
0791808572
0791810194
0791837904
0791811034
Date Issued
2005
Author(s)
Lee, Kok-Meng Meng
Abstract
The dynamic model for links in most mechanisms has often based on small deflection theory without considering geometrical nonlinearity. For applications like light-weight links or high-precision elements, it is necessary to capture the large deflection caused by bending forces. A complete dynamic model is presented here to characterize the motion of a compliant mechanism capable of large deflection with shear and axial deformation. We derive the governing equations from Hamilton's principle along with the essential geometric constraints that relate deformation and coordinate variables, and solve them using a semi-discrete method based on the Newmark scheme and shooting method. The dynamic model has been validated experimentally. We also extend the model for analyzing compliant mechanisms. It is expected that the dynamic model will serve as a basis for analyzing a wide spectrum of compliant multi-link mechanisms.
Event(s)
2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005
Subjects
Axial Deformation
High-precision Elements
Multi-link Mechanisms
Bending (deformation)
Motion Compensation
Nonlinear Systems
Robotics
Description
2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005. Orlando, FL. conference code:67016
Type
conference paper