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Dynamics modeling for curved-type fully compliant mechanism based on pseudo-rigid-body modeling
| Content Provider | Semantic Scholar |
|---|---|
| Author | Liu, Chang Jiang, Haiyong |
| Copyright Year | 2016 |
| Abstract | The compliant mechanisms are highly coupled and extremely nonlinear systems, where the dynamic model is generally used for the control of the system. This paper focuses on dynamic modeling of curve-type fully compliant mechanism, by taking the J-type bionic foot as an example. Based on the pseudo-rigid-body model and the Dynamic Nominal Mechanism (DNM) method, the dynamics model of the equivalent of underactuated multi-body system is established. According to the dynamic modeling, the forward dynamics simulation of compliant mechanism is directly obtained with programming. Hence, the dynamic modeling provides a practical and effective method for the dynamic characteristic research on compliant mechanism. The simulation results indicate that the main deformation of J-type bionic foot is transferred through the elastic force and motion at the ankle, and the movement is stable in the gait cycle. Therefore, the bio-mimetic simulation of the ankle can be realized. |
| Starting Page | 2302 |
| Ending Page | 2307 |
| Page Count | 6 |
| File Format | PDF HTM / HTML |
| DOI | 10.1109/ICMA.2016.7558924 |
| Alternate Webpage(s) | http://or.nsfc.gov.cn/bitstream/00001903-5/512683/1/991657118.pdf |
| Alternate Webpage(s) | https://doi.org/10.1109/ICMA.2016.7558924 |
| Journal | 2016 IEEE International Conference on Mechatronics and Automation |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
