Evaluation of Equivalent Spring Stiffness for Use in a Pseudo-Rigid-Body Model of Large-Deflection Compliant Mechanisms

Howell, Larry L.; Midha, Ashok; Norton, Tony W.

doi:10.1115/1.2826843

Cited by 213 publications

(84 citation statements)

References 9 publications

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“…Over the past decade, PRBMs (pseudo-rigid-body models) (Howell et al, 1996;Howell, 2001;Su, 2009;Ramirez and Lusk, 2011) have drawn plenty of attentions due to dramatically simplifying the design and analysis of compliant mechanisms using the knowledge body of rigid-body mechanisms with springs. In PRBM, the compliant beams are typically replaced with the pseudo-rigid-body link(s) coupling with one or more characteristic pivots with specified spring stiffness located at specified position(s).…”

Section: Introductionmentioning

confidence: 99%

“…In PRBM, the compliant beams are typically replaced with the pseudo-rigid-body link(s) coupling with one or more characteristic pivots with specified spring stiffness located at specified position(s). Most researches have been conducted for proposing PRBMs of planar-motion compliant mechanisms with planar-motion members such as the fixedfree beam, fixed-guided beam, parallelogram mechanism, cartwheel rotational joint and fixed-clamped carbon nanotubes (Howell et al, 1996(Howell et al, , 2010Howell, 2001;Su, 2009), which has resulted in very accurate approximation of loaddisplacement relationships. However, less work has been reported for PRBMs of spatial-motion compliant beams such as spatial-motion axisymmetric cantilever beams (Ramirez and Lusk, 2011).…”

Section: Introductionmentioning

confidence: 99%

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Simplified PRBMs of spatial compliant multi-beam modules for planar motion

Hao

2013

Mech. Sci.

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Abstract. PRBMs (pseudo-rigid-body models) have been becoming important engineering technologies/methods in the field of compliant mechanisms to simplify the design and analysis through the use of the knowledge body of rigid-body mechanisms coupling with springs. This article addresses the PRBMs of spatial multi-beam modules for planar motion, which are composed of three or more symmetrical wire/slender beams parallel to each other where the planar twisting DOF (degree of freedom) is assumed to be very small for specific applications/loading conditions. Simplified PRBMs are firstly proposed through replacing each beam in spatial multi-beam module with a rigid-body link plus two identical spherical joints at its two ends. The characteristics factor, bending stiffness and twisting stiffness for the spherical joint are determined. Loaddisplacement equations are then derived for a class of spatial multi-beam modules and general spatial multibeam modules using the virtual work principle and kinematic relationships. Finally, nonlinear FEA (finite element analysis) is employed with comparisons with the PRBMs. The present PRBMs have shown the ability to predict the primary nonlinear constraint characteristics such as load-stiffening effect, cross-axis coupling in the two primary translational directions and buckling load.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Simplified PRBMs of spatial compliant multi-beam modules for planar motion

Hao

2013

Mech. Sci.

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“…The arc leg is a compliant mechanism, and it is hard to analyze the buffering performance because the arc leg introduces geometric nonlinearities. The pseudo-rigid-body model used in this study can simplify large-deflection analysis [34][35][36]. For the first walking way (the midpoint of the arc leg lands first), the leg structure which plays a role in buffering can be considered to be 1/4 circles.…”

Section: Structural Stiffness In Leg Statementioning

confidence: 99%

Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure

Meng

Xue

et al. 2017

Mathematical Problems in Engineering

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A wheel-legged rescue robot design with strong environmental adaptability is proposed. The design presented is aimed at helping rescue workers complete their missions, such as environmental and personnel search, quickly and accurately. So it has broad application prospects. In order to achieve the advantages of simple structure, easy control, small occupation space, and wide motion range, a wheel-legged rescue robot is designed in this paper, and the robot can realize three kinds of motion states, which include wheel state, rotation center lifting process, and leg state. Then the motion states are analyzed in detail, which provides a reference for motion control. Considering the wheel state and leg state share the same structure to contact with the ground, the effect of the stiffness of wheel-legged structure to the motion performance is analyzed. Then the experiment is carried out to prove the feasibility of the structure design. This study offers a design and quantitative analysis for wheel-legged rescue robot. Furthermore, a basis for future control research and engineering applications is established.

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“…Compliant links that remain under stress for long periods of time or at high temperatures may experience stress relaxation or creep (Howell, 2001). PRBM (pseudo-rigid body model) technique replaces the flexible segments with an equivalent system of rigid links, joints and torsional springs (Howell and Midha, 1996). PRBM can be used for design of compliant mechanisms when the compliant mechanism behavior is such that links can be assumed to be rigid and the flexural pivots can be assumed to behave as torsional springs.…”

Section: Introductionmentioning

confidence: 99%

Fully compliant spatial four-bar mechanism

Tanık

Parlaktaş

2015

JAMDSM

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This paper presents a novel study on the analysis of the "fully compliant" spatial four-bar mechanism. To the best of our knowledge, any research on "fully compliant" spatial four-bar mechanism is not available in the literature. In the previous study performed by the authors, a "partially compliant" version of the spatial four-bar mechanism was introduced. There was a rigid spherical joint in that case, thus there was no torsional loading at flexural hinges. For the fully compliant case, there is no spherical joint in the structure of the mechanism, thereby there is also torsion available at multiple axis flexural hinges. Design of this fully compliant mechanism is different from the partially compliant case. In this study, deflections of the multiple axis flexural hinges are determined separately as bending and twist. Essential angles for manufacturing a mechanism are determined. A prototype is built and results of the mathematical model are verified with experiments. Finally, a fatigue test is performed. After one and a half million cycles it is observed that there is no indication of any failure. Since there are many applications of rigid spatial four bar mechanisms, it is strongly believed that a fully compliant version of such a mechanism may also find applications.

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Evaluation of Equivalent Spring Stiffness for Use in a Pseudo-Rigid-Body Model of Large-Deflection Compliant Mechanisms

Cited by 213 publications

References 9 publications

Simplified PRBMs of spatial compliant multi-beam modules for planar motion

Simplified PRBMs of spatial compliant multi-beam modules for planar motion

Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure

Fully compliant spatial four-bar mechanism

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