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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Zhao, Kai James, P. Schmiedeler Andrew, P. Murray |
| Copyright Year | 2012 |
| Abstract | This paper presents a procedure using Pseudo-Rigid-Body Models (PRBMs) to synthesize partially compliant mechanisms capable of approximating a shape change defined by a set of morphing curves in different positions. To generate a single-piece compliant mechanism, flexural pivots and flexible beams are both utilized in the mechanism. New topologies defined by compliant mechanism matrices are enumerated by modifying the components that make up a single degree-of-freedom (DOF) rigid-body mechanism. Because of the introduction of the PRBM for flexural pivots and the simplified PRBM for flexible beams, torsional springs are attached at the characteristic pivots of the 1-DOF rigid-body mechanism in order to generate a corresponding pseudo-rigid-body mechanism. A multi-objective genetic algorithm is employed to find a group of viable compliant mechanisms in the form of candidate pseudo-rigid-body mechanisms that tradeoff minimizing shape matching error with minimizing actuator energy. Since the simplified beam model is not accurate, an optimization loop is established to find the position and shape of the flexible beam using a finite link beam model. The optimal flexible beams together with the pseudo-rigid-body mechanism define the solution mechanism. The procedure is demonstrated with an example in which a partially compliant mechanism approximating two closed-curve profiles is synthesized. |
| Sponsorship | Design Engineering Division Computers and Information in Engineering Division |
| Starting Page | 199 |
| Ending Page | 210 |
| Page Count | 12 |
| File Format | |
| ISBN | 9780791845035 |
| DOI | 10.1115/DETC2012-70359 |
| Volume Number | Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2012-08-12 |
| Publisher Place | Chicago, Illinois, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Actuators Errors Degrees of freedom Tradeoffs Kinematics Compliant mechanisms Shapes Rigid-body mechanisms Springs Optimization Genetic algorithms |
| Content Type | Text |
| Resource Type | Article |
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