https://scholars.lib.ntu.edu.tw/handle/123456789/598911
標題: | Design of a monolithic constant-force compliant mechanism for extended range of motion and minimal force variation | 作者: | Lo C.-W Chang Y Wang M.-L Lin C.-R Lee J.-J. JYH-JONE LEE |
關鍵字: | Constant-force compliant mechanism;Genetic algorithm;Topology synthesis;Vector form intrinsic finite element;Compliant mechanisms;Deformation;Finite element method;Grippers;Iterative methods;Mechanisms;Parameter estimation;Shape optimization;Strain energy;Topology;Constant force;Extended range;Force variation;Monolithics;Optimisations;Range-of-motion;Structural deformation;Genetic algorithms | 公開日期: | 2021 | 卷: | 8A-2021 | 來源出版物: | Proceedings of the ASME Design Engineering Technical Conference | 摘要: | Compliant mechanisms enable passive force control through induction of strain energy during deformation. This has been perceived as a desired factor for developing precise handling equipment of limited size where additional sensors and controls are inessential to its operation. In this paper, our objective is to design a monolithic constant-force compliant mechanism to be integrated in a constant-force gripper for extended range of bidirectional motion. A topology synthesis method has been proposed by means of domain definition, discrete parameterization, topology optimization, and nonlinear structural deformation evaluation. This article adapts a compliant topology of a homogeneous beam configuration that exhibits zero stiffness behavior over a pre-established effective region. The optimization by genetic algorithm generates discrete shaping parameters for formation of an optimal geometry. The structural deformation computation via vector form intrinsic finite element that accounts for large displacement motion quantifies an iterative series of load-displacement relations in the optimization. Results have been verified using a conventional finite element method. A conceptual gripper has been proposed with a pair of embedded constant-force compliant mechanisms. This procedure has prepared a general guideline for future development of passive compliant devices that require accurate force regulation over a wide range of motion. ? 2021 by ASME |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85119951347&doi=10.1115%2fDETC2021-69726&partnerID=40&md5=d91d725a6c527006d41de875d1622196 https://scholars.lib.ntu.edu.tw/handle/123456789/598911 |
DOI: | 10.1115/DETC2021-69726 |
顯示於: | 機械工程學系 |
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