Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms
We present an extensible-link kinematic model for characterizing the motion trajectory of an arbitrary planar compliant mechanism. This is accomplished by creating an analogous kinematic model consisting of links that change length over the course of actuation to represent elastic deformation of the...
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| Format: | Article |
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ASME International
2018
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| Online Access: | http://hdl.handle.net/1721.1/119376 https://orcid.org/0000-0002-9448-6894 https://orcid.org/0000-0002-7372-3512 |
| _version_ | 1826191800402968576 |
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| author | Beroz, Justin Douglas Awtar, Shorya Hart, Anastasios John |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Beroz, Justin Douglas Awtar, Shorya Hart, Anastasios John |
| author_sort | Beroz, Justin Douglas |
| collection | MIT |
| description | We present an extensible-link kinematic model for characterizing the motion trajectory of an arbitrary planar compliant mechanism. This is accomplished by creating an analogous kinematic model consisting of links that change length over the course of actuation to represent elastic deformation of the compliant mechanism. Within the model, the motion trajectory is represented as an analytical function. By Taylor series expansion, the trajectory is expressed in a parametric formulation composed of load-independent and load-dependent terms. Here, the load-independent terms are entirely defined by the shape of the undeformed compliant mechanism topology, and all load-geometry interdependencies are captured by the load-dependent terms. This formulation adds insight to the process for designing compliant mechanisms for high accuracy motion applications because: (1) inspection of the load-independent terms enables determination of specific topology modifications for improving the accuracy of the motion trajectory; and (2) the load-dependent terms reveal the polynomial orders of principally uncorrectable error components of the motion trajectory. The error components in the trajectory simply represent the deviation of the actual motion trajectory provided by the compliant mechanism compared to the ideally desired one. We develop the generalized model framework, and then demonstrate its utility by designing a compliant micro-gripper with straight-line parallel jaw motion. We use the model to analytically determine all topology modifications for optimizing the jaw trajectory, and to predict the polynomial order of the uncorrectable trajectory components. The jaw trajectory is then optimized by iterative finite elements (FE) simulation until the polynomial order of the uncorrectable trajectory component becomes apparent. |
| first_indexed | 2024-09-23T09:01:30Z |
| format | Article |
| id | mit-1721.1/119376 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T09:01:30Z |
| publishDate | 2018 |
| publisher | ASME International |
| record_format | dspace |
| spelling | mit-1721.1/1193762022-09-26T09:57:09Z Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms Beroz, Justin Douglas Awtar, Shorya Hart, Anastasios John Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Department of Physics Beroz, Justin Douglas Awtar, Shorya Hart, Anastasios John We present an extensible-link kinematic model for characterizing the motion trajectory of an arbitrary planar compliant mechanism. This is accomplished by creating an analogous kinematic model consisting of links that change length over the course of actuation to represent elastic deformation of the compliant mechanism. Within the model, the motion trajectory is represented as an analytical function. By Taylor series expansion, the trajectory is expressed in a parametric formulation composed of load-independent and load-dependent terms. Here, the load-independent terms are entirely defined by the shape of the undeformed compliant mechanism topology, and all load-geometry interdependencies are captured by the load-dependent terms. This formulation adds insight to the process for designing compliant mechanisms for high accuracy motion applications because: (1) inspection of the load-independent terms enables determination of specific topology modifications for improving the accuracy of the motion trajectory; and (2) the load-dependent terms reveal the polynomial orders of principally uncorrectable error components of the motion trajectory. The error components in the trajectory simply represent the deviation of the actual motion trajectory provided by the compliant mechanism compared to the ideally desired one. We develop the generalized model framework, and then demonstrate its utility by designing a compliant micro-gripper with straight-line parallel jaw motion. We use the model to analytically determine all topology modifications for optimizing the jaw trajectory, and to predict the polynomial order of the uncorrectable trajectory components. The jaw trajectory is then optimized by iterative finite elements (FE) simulation until the polynomial order of the uncorrectable trajectory component becomes apparent. National Science Foundation (U.S.). Graduate Research Fellowship United States. Office of Naval Research (N000141010556) 2018-12-03T12:55:43Z 2018-12-03T12:55:43Z 2013-08 2018-11-29T17:02:19Z Article http://purl.org/eprint/type/ConferencePaper 978-0-7918-5593-5 http://hdl.handle.net/1721.1/119376 Beroz, Justin, Shorya Awtar, and A. John Hart. “Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms.” Volume 6A: 37th Mechanisms and Robotics Conference (August 4, 2013). https://orcid.org/0000-0002-9448-6894 https://orcid.org/0000-0002-7372-3512 http://dx.doi.org/10.1115/DETC2013-12582 Volume 6A: 37th Mechanisms and Robotics Conference Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf ASME International ASME |
| spellingShingle | Beroz, Justin Douglas Awtar, Shorya Hart, Anastasios John Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms |
| title | Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms |
| title_full | Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms |
| title_fullStr | Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms |
| title_full_unstemmed | Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms |
| title_short | Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms |
| title_sort | extensible link kinematic model for determining motion characteristics of compliant mechanisms |
| url | http://hdl.handle.net/1721.1/119376 https://orcid.org/0000-0002-9448-6894 https://orcid.org/0000-0002-7372-3512 |
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