NDLI: Compliant Five Bar Mechanism Control to Achieve a Desired Trajectory

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Compliant Five Bar Mechanism Control to Achieve a Desired Trajectory

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Compliant Five Bar Mechanism Control to Achieve a Desired Trajectory

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Tekes, Ayse
Copyright Year	2017
Abstract	In this study, two degrees of freedom planar compliant five-bar mechanism design is explored and synthesized to achieve a desired trajectory and to perform various defined tasks. The mechanism consists of five rigid links (including the ground) connected by the compliant large deflecting short beam joints and it is excited by the applied torques at the base links. The compliant five bar mechanism has not been explored in the literature for either a path tracking task or a function generation problem. The novelty of the compliant five bar mechanism presented in this paper is its large deflecting/rotating pivots joining the mechanism links. The mathematical model of the compliant five-bar mechanism is derived by using vector loop closures and dynamic inertia equations of the mechanism links. The dynamic response of the mechanism is investigated under the applied torques to the corresponding base links, using numerical 4th order Runge-Kutta methods. Compliant joints are represented by their equivalent torsional spring parameters so that the nonlinear large deflection equations of short beam joints are eliminated from the kinematic equations of the system using its equivalent Pseudo Rigid Body Model (PRBM). The torsional spring constants can be obtained, either by using nonlinear exact mathematical equations or by using geometrically nonlinear Finite Element Method software. The scope of this research is to derive a mathematical model of the system and to analyze the compliant five bar mechanism including the controller design for arbitrary predefined tasks to achieve the desired path for the end effector. The compliant five-bar mechanisms are superior to traditional rigid five-bar mechanisms in high precision tasks since compliant joints and links have no backlash and friction. This study explores path generation of compliant five bar mechanism resulting in high precision path tracking. The presented mechanism might be manufactured as a single piece using an injection molding technique or 3D printing by polypropylene and it is also suitable for a fully compliant Micro Electro Mechanical System fabrication. The mathematical model of the mechanism is validated by utilizing inverse-forward dynamic model. The tip point of the mechanism successfully follows the reference trajectory by employing model based PID controller.
File Format	PDF
ISBN	9780791858387
DOI	10.1115/IMECE2017-70077
Volume Number	Volume 4B: Dynamics, Vibration, and Control
Conference Proceedings	ASME 2017 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2017-11-03
Publisher Place	Tampa, Florida, USA
Access Restriction	Subscribed
Subject Keyword	Dynamic response Microelectromechanical systems Degrees of freedom Elastic constants Inertia (mechanics) Deflection Computer software Control equipment Joining Additive manufacturing Equations of motion Finite element methods Equations Design Friction Trajectories (physics) Injection molding Dynamic models End effectors Runge-kutta methods Manufacturing Springs
Content Type	Text
Resource Type	Article

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