Parametric Deflection Approximations for End-Loaded, Large-Deflection Beams in Compliant Mechanisms

Howell, Larry L.; Midha, Ashok

doi:10.1115/1.2826101

Cited by 299 publications

(110 citation statements)

References 12 publications

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“…The compliance for torsional stiffness of link attached is represented by a torsional spring. The torsional spring constant K t for a cantilever beam with a force at the free end is given by [14].…”

Section: Bearing Stiffnessmentioning

confidence: 99%

A Performance Evaluation of Four Bar Mechanism Considering Flexibility of Links and Joints Stiffness

Vaidya¹,

Padole²

2010

TOMEJ

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This paper deals with the study of joint clearance on kinematics of mechanism and bearing stiffness along with links flexibility on modal analysis at higher frequency. Literature survey reveals that the studies were carried out for highspeed mechanism considering linkage flexibility without considering bearing stiffness.The method of calculating clearance at joints, checking for orientation of linkages and estimation of exact mechanical error using sensitivity analysis is discussed. An attempt is also made to analyze the actual dynamic performance of mechanism by determining natural frequencies of flexible mechanism at high speed considering the effect of bearing stiffness. Bearing stiffness depends upon speed, bearing load and also on wear, out of run, play etc during operation. It is observed that as the stiffness of joint increases natural frequency also increases and converges when stiffness reaches a value close to 1.6x10 9 N/m.

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Section: Bearing Stiffnessmentioning

confidence: 99%

A Performance Evaluation of Four Bar Mechanism Considering Flexibility of Links and Joints Stiffness

Vaidya¹,

Padole²

2010

TOMEJ

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“…PSEUDO-RIGID-BODY MODEL APPLIED TO THE C-LEG. ADAPTED FROM [21] and [4] strength to withstand the demands of the intended environment which include stresses caused by changing payloads, speeds, irregular landings and collisions. Many composites, including the fiberglass composite chosen, are anisotropic and thus have properties that change depending on the orientation along which the property is measured [20].…”

Section: Materials Selectionmentioning

confidence: 99%

Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion

Galloway

Clark

Koditschek

2009

Volume 7: 33rd Mechanisms and Robotics Conference, Parts a and B

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Passively compliant legs have been instrumental in the development of dynamically running legged robots. Having properly tuned leg springs is essential for stable, robust and energetically efficient running at high speeds. Recent simulation studies indicate that having variable stiffness legs, as animals do, can significantly improve the speed and stability of these robots in changing environmental conditions. However, to date, the mechanical complexities of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. This paper describes a new design of a "structurally controlled variable stiffness" leg for a hexapedal running robot. This new leg improves on previous designs' performance and enables runtime modification of leg stiffness in a small, lightweight, and rugged package. Modeling and leg test experiments are presented that characterize the improvement in stiffness range, energy storage, and dynamic coupling properties of these legs. We conclude that this variable stiffness leg design is now ready for implementation and testing on a dynamical running robot.

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“…In the absence of the tip moment, this incremental approach is applied only for orthogonal inclination loading angle where the elastica of the beam does exceed the vertical axis. Similar procedure applying Jacobi elliptic integrals of first and second types by considering only end-load is used by Howell and Midha (Howell & Midha, 1995). Saxena and Kramer proposed a numerical integration scheme that requires special consideration for the occurrence of any inflection point within the beam for combined end loading (Saxena & Kramer, 1998).…”

Section: Introductionmentioning

confidence: 99%

Large Deflection of Prismatic Cantilever Beam Exposed to Combination of End Inclined Force and Tip Moment

Abu-Alshaikh

Alkhaldi²,

Beithou³

2017

MAS

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The large deflection of a prismatic Euler-Bernoulli cantilever beam under a combination of end-concentrated coplanar inclined force and tip-concentrated moment is investigated. The angle of inclination of the applied force with respect to the horizontal axis remains unchanged during deformation. The cantilever beam is assumed to be naturally straight, slender, inextensible and elastic. The large deflection of the cantilever beam induces geometrical nonlinearity; hence, the nonlinear theory of bending and the exact expression of curvature are used. Based on an elliptic integral formulation, an accurate numerical solution is obtained in terms of an integration constant that should satisfy the boundary conditions associated with the cantilever beam. For some special cases this integration constant is exactly found, which leads to closed form solution. The numerical solution obtained is quite simple, accurate and involves less computational time compared with other techniques available in literature. The details of elastica and its corresponding orientation curves are presented and analyzed for extremely large load combinations. A comparative study with pre-obtained results has been made to verify the accuracy of the presented solution; an excellent agreement has been obtained.

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Parametric Deflection Approximations for End-Loaded, Large-Deflection Beams in Compliant Mechanisms

Cited by 299 publications

References 12 publications

A Performance Evaluation of Four Bar Mechanism Considering Flexibility of Links and Joints Stiffness

A Performance Evaluation of Four Bar Mechanism Considering Flexibility of Links and Joints Stiffness

Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion

Large Deflection of Prismatic Cantilever Beam Exposed to Combination of End Inclined Force and Tip Moment

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