On the Nomenclature, Classification, and Abstractions of Compliant Mechanisms

Abstract

Compliant mechanisms, unlike rigid-body mechanisms, gain some or all of their mobility from the flexibility of their members. Complaint mechanisms are desirable since they require fewer parts, and have less wear, noise, and backlash than their rigid-body counterpart mechanisms. The field of compliant mechanisms is expected to continue to grow as materials with superior properties are developed. Inasmuch as evolution of efficient design techniques is viewed as an essential research activity, a parallel, systematic development of appropriate vocabulary (nomenclature, classification, etc.) is of primary importance. This paper proposes a standard nomenclature for the components of compliant mechanisms and discusses the relevant issues involved in this process. Definitions for components, such as “links” and “joints,” remove ambiguity that has been associated with these terms in the past. Names and diagrams are discussed, and are shown to be similar because they represent “abstractions” of the same mechanisms. The concept of “levels of abstraction” is introduced, and common levels of abstraction are identified. A concerted effort is made to be consistent with current literature on both rigid-body mechanisms and compliant mechanisms whenever possible.

Crack Detection Method on Flexure Hinges of 3-RRR Compliant Mechanism

“…PRBM was proposed to design and analyze a compliant mechanism based on flexure hinges [4][5]. Zou first utilized PRBM to analyze kinematic and dynamic behavior of the 3-RRR compliant mechanism [6] .…”

The Smooth Curvature Flexure Model: An Accurate, Low-Dimensional Approach for Robot Analysis

“…For the 2 parameter model, the Hessian is a 2 by 2 matrix, (27) The stiffness due to potential energy can be found by taking the Hessian of the energy function derived in (14),…”

“…However, because these models have fewer degrees of freedom than a real flexure, they are too rigid and under-predict the deformation of a loaded flexure. Another family of models, called pseudo-rigid body models, consists of one or several joints placed to approximate the flexure's center of rotation, connected in parallel with nonlinear springs fit by regression to the exact force-deflection profile [14]. These models can be used to find flexure deflection under load, but they are unsuitable for manipulator analysis because the linkage geometries used to approximate the beam bending change based on the direction of applied force, and thus are not purely kinematic descriptions of flexure behavior.…”

A novel voice coil motor-driven compliant micropositioning stage based on flexure mechanism

“…However, the interference behavior exists between the VCM and piezoelectric actuators. Therefore, there are several long stroke positioning stages driven by VCMs reported in [15][16]. Compared with piezoelectric actuators, VCMs can deliver a long stroke with a fine resolution easier.…”