A new pseudo-rigid-body model approach for modeling the quasi-static response of planar flexure-hinge mechanisms

Šalinić, Slaviša; Nikolić, Aleksandar

doi:10.1016/j.mechmachtheory.2018.02.011

Cited by 45 publications

(17 citation statements)

References 35 publications

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“…Saggere and Kota [221] introduced a finite element type of model in which the beam was divided into more than three segments joined by torsional springs. Other developments on the pseudorigid-body model can be found in the works by Salinić and Nikolić [222] and Valentini and Pennestr I [223]. [228], constant-force mechanisms by Aten et al [229], Cartwheel flexure hinges by Pei and coworkers [105,106], to mention a few.…”

Section: Kinetostatic Modeling Of Compliant Mechanisms With Large Defmentioning

confidence: 99%

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Ling

Howell

Cao

et al. 2020

Applied Mechanics Reviews

135

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Flexure-based compliant mechanisms are becoming increasingly promising in precision engineering, robotics, and other applications due to the excellent advantages of no friction, no backlash, no wear, and minimal requirement of assembly. Because compliant mechanisms have inherent coupling of kinematic-mechanical behaviors with large deflections and/or complex serial-parallel configurations, the kinetostatic and dynamic analyses are challenging in comparison to their rigid-body counterparts. To address these challenges, a variety of techniques have been reported in a growing stream of publications. This paper surveys and compares the conceptual ideas, key advances, and applicable scopes, and open problems of the state-of-the-art kinetostatic and dynamic modeling methods for compliant mechanisms in terms of small and large deflections. Future challenges are discussed and new opportunities for extended study are highlighted as well. The presented review provides a guide on how to select suitable modeling approaches for those engaged in the field of compliant mechanisms.

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Section: Kinetostatic Modeling Of Compliant Mechanisms With Large Defmentioning

confidence: 99%

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Ling

Howell

Cao

et al. 2020

Applied Mechanics Reviews

135

View full text Add to dashboard Cite

show abstract

“…(24). Figure 7b shows the "+−" working mode, in which C P is a broken line path through points (− 15, 15), (0, 35), and (5,25).…”

Section: Simulation Example and Experimental Verificationmentioning

confidence: 99%

“…So far, research into the kinematics of 3-RRR PPM is gradually developing from research on forward and reverse solution modeling based on rigid body kinematics to research on modeling the quasi-static response of planar flexure-hinge mechanisms using the new pseudo-rigid-body model of flexure hinges [5], or research on the motion reliability analysis of a 3-RRR PPM with multiple uncertainties, which include manufacturing tolerances, input errors, and joint clearances [6]. Furthermore, dynamics analysis [4], and workspace and singularity analysis [7][8][9][10][11][12] of the manipulator have also attracted the wide attention of scholars.…”

Section: Introductionmentioning

confidence: 99%

Small-angle perturbation method for moving platform orientation to avoid singularity of asymmetrical 3-RRR planner parallel manipulator

Yin

Chen

Gao

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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To overcome the weakness of the present methods of singularity avoidance for 3-RRR planar parallel manipulator (PPM), a new method of avoiding singular points on planed paths in workspace via orientation perturbation to moving platforms is proposed. First, an inverse kinematics model of 3-RRR PPM is built. A discriminant matrix of type II singularity is specified and the mapping between determinant values of the matrix and points in workspace of 3-RRR PPM is defined as a singularity surface. Then, the planned path is regarded as a directrix and intersecting line between cylindrical surfaces (its generating line is parallel to the z-axis) and the singularity surface is defined as a singularity curve corresponding to a planned path. By determining the critical perturbation value of the moving platform's orientation angle, the maximum value of the singularity curve corresponding to the planned path is no larger than 0 or its minimum value is no smaller than 0. Therefore, singular points on the planned path are avoided by changing the moving platform's orientation angle without changing the planned path. Moreover, a numerical realization method is given; example and experiment verification indicates that singular points in the planned path can be avoided when perturbation to the moving platform's orientation angle is no larger than 0.1745 rad. Therefore, the proposed method lays a solid foundation for singularity-free kinematics control based on inverse solutions.

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“…Šalinić et al. 14 and Yang et al. 15 established the quasi-static responses of compliant micromotion stages utilizing a pseudo-rigid-body model.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear static modeling of a tip-tilt-piston micropositioning stage comprising leaf-spring flexure hinges

Chen

Liu

Ding

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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Nonlinear static modeling is crucial for the design of stages with large travel ranges. However, few studies have investigated complex spatial compliant mechanisms. The present study proposes an optimization algorithm based on substructure constraint conditions to formulate the nonlinearity of the force–displacement characteristic of a tip-tilt-piston stage comprising leaf-spring flexure hinges. First, the nonlinear force–displacement characteristics of the compound basic parallelogram mechanism are derived using an optimization algorithm based on two constraint conditions (I and II). Second, the nonlinear static modeling of the tip-tilt-piston stage is conducted based on the modeling results of the compound basic parallelogram mechanism. The stage is divided into three parts, and force analyses are conducted for all three parts. The vertical displacement of the compound basic parallelogram mechanism in part 1 and the rotational angle of the rotational plate in part 2 are calculated. Subsequently, the force–displacement characteristics of the tip-tilt-piston stage are obtained based on a third constraint condition (III). A comparison of the finite element analysis results and the theoretical calculation indicates less than 4% errors. In the experimental tests conducted on the proposed stage and four compound basic parallelogram mechanisms, the displacements were evidently larger than those calculated using the finite element analysis. Therefore, a weight coefficient of the axial force w is introduced in the theoretical calculation to solve the problem of the large deviations between the experimental results and the finite element analysis results. When w is set to 1, the theoretical results are in good agreement with the finite element analysis results; when w is set to 0.05 for the tip-tilt-piston stage and 0.15 for compound basic parallelogram mechanisms, the theoretical results are consistent with the experimental results (less than 8.5% errors).

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A new pseudo-rigid-body model approach for modeling the quasi-static response of planar flexure-hinge mechanisms

Cited by 45 publications

References 35 publications

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Small-angle perturbation method for moving platform orientation to avoid singularity of asymmetrical 3-RRR planner parallel manipulator

Nonlinear static modeling of a tip-tilt-piston micropositioning stage comprising leaf-spring flexure hinges

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