NDLI: Gramian-based optimal design of a dynamic stroke amplifier compliant micro-mechanism

Content Provider	IEEE Xplore Digital Library
Author	Grossard, M. Rotinat-Libersa, C. Chaillet, N.
Copyright Year	2007
Description	Author affiliation: UFC, Besancon (Grossard, M.)
Abstract	This paper presents a new method developed for the optimal design of microrobotic compliant mechanisms. It is based on a flexible building block method, called Flexln, which uses an evolutionary approach, to optimize a truss-like structure made of building blocks. From the first design step, in addition to conventional mechanical criteria, dynamic gramian- based metrics can be considered in the optimization procedure to fit expected frequency responses of the synthesized mechanisms. A planar monolithic compliant coupling structure is obtained by the optimal design method to act as a stroke amplifier for piezoelectric stacked actuators, to operate in both static and dynamic motions, and to passively filter out undesirable vibrations. Finally, performance comparisons between some of the pseudo-optimal Flexln synthetized compliant mechanisms demonstrate the interests of the proposed optimization method for the design of dynamic operating smart microrobotic structures.
Starting Page	4007
Ending Page	4012
File Size	503360
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399063
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Piezoelectric actuators Vehicle dynamics Flexible structures Piezoelectric materials Optimization methods Design optimization Topology Design methodology Bandwidth Intelligent robots
Content Type	Text
Resource Type	Article

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