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5 results on '"compliant joint"'

1. Three-Legged Compliant Parallel Mechanisms: Fundamental Design Criteria to Achieve Fully Decoupled Motion Characteristics and a State-of-the-Art Review.

Author

Pham, Minh Tuan, Yeo, Song Huat, and Teo, Tat Joo

Subjects
*COMPLIANT mechanisms, *FLEXURE, *ANALYTICAL solutions, *MOTION
Abstract

A three-legged compliant parallel mechanism (3L-CPM) achieves fully decoupled motions when its theoretical 6 × 6 stiffness/compliance matrix is a diagonal matrix, which only contains diagonal components, while all non-diagonal components are zeros. Because the motion decoupling capability of 3L-CPMs is essential in the precision engineering field, this paper presents the fundamental criteria for designing 3L-CPMs with fully decoupled motions, regardless of degrees-of-freedom and the types of flexure element. The 6 × 6 stiffness matrix of a general 3L-CPM is derived based on the orientation of each flexure element, e.g., thin/slender beam and notch hinge, etc., and its relative position to the moving platform. Based on an analytical solution, several requirements for the flexure elements were identified and needed to be satisfied in order to design a 3L-CPM with a diagonal stiffness/compliance matrix. In addition, the developed design criteria were used to analyze the decoupled-motion capability of some existing 3L-CPM designs and shown to provide insight into the motion characteristics of any 3L-CPM. [ABSTRACT FROM AUTHOR]

Published
2022
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2. Applied Mathematics to Mechanisms and Machines.

Author

Rubio Alonso, Higinio, Caballero, Alejandro, Meneses Alonso, Jesus, Rubio Alonso, Higinio, and Soriano-Heras, Enrique

Subjects
History of engineering & technology, Technology: general issues, COVID-19, FEM analysis, Frenet trihedral, GRU, Levenberg-Marquardt algorithm, Miura-ori pattern, NMR reconstruction, Pareto front, adaptive rejection control, aeroengine, air flow medical sensor, approximate entropy, autoencoder, biomechanics, compliance, compliant joint, compliant mechanism, convergence, coupled motion, decoupled motion, delayed feedback, denoising, deployable mechanism, differential evolution, dimensional synthesis, dispersion relation, distance to a singularity, dynamic balancing, effort mathematical models, elbow joint, elliptic integrals, emergency air flow sensor, fault classification, flexible rotor, flexure, flexure-based mechanism, fractal, fully Cartesian coordinates, geometric algebra, helical spring, heteroclinic bifurcation, hybrid compliant mechanisms, hybrid optimization, hydrodynamic journal bearing, jump, kinematics, land vehicle, lateral dynamics, local minima, low-cost air flow sensor, multiobjective optimization, nanostructures, natural frequency, neural networks, non-linear systems, numerical methods, optimization, origami inspired design, path analysis, path generation, phase space reconstruction, predictive suspension, random forest, relative rotation, reverse engineering, rotor group, rotordynamic, safe basin, safety vehicle index, serial robotic manipulators, singularity identification, sinusoidal disturbance, six-bar mechanism, slider-crank mechanism, smooth sheet attachment, sprung mass, stiffness, support vector machines, suspension algorithm, three-legged parallel mechanism, track parameters, vehicle mathematical modeling, vibration, zipper-coupled tubes
Abstract

Summary: This book brings together all 16 articles published in the Special Issue "Applied Mathematics to Mechanisms and Machines" of the MDPI Mathematics journal, in the section "Engineering Mathematics". The subject matter covered by these works is varied, but they all have mechanisms as the object of study and mathematics as the basis of the methodology used. In fact, the synthesis, design and optimization of mechanisms, robotics, automotives, maintenance 4.0, machine vibrations, control, biomechanics and medical devices are among the topics covered in this book. This volume may be of interest to all who work in the field of mechanism and machine science and we hope that it will contribute to the development of both mechanical engineering and applied mathematics.

3. Jacobian-based stiffness analysis method for parallel manipulators with non-redundant legs.

Author

Hoevenaars, Antonius G. L., Lambert, Patrice, and Herder, Just L.

Subjects
PARALLEL robots, STIFFNESS (Engineering)
Abstract

Stiffness is an important element in the model of a parallel manipulator. A complete stiffness analysis includes the contributions of joints as well as structural elements. Parallel manipulators potentially include both actuated joints, passive compliant joints, and zero stiffness joints, while a leg may impose constraints on the end-effector in the case of lower mobility parallel manipulators. Additionally, parallel manipulators are often designed to interact with an environment, which means that an external wrench may be applied to the end-effector. This paper presents a Jacobian-based stiffness analysis method, based on screw theory, that effectively considers all above aspects and which also applies to parallel manipulators with non-redundant legs. [ABSTRACT FROM AUTHOR]

Published
2016
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4. Three-Legged Compliant Parallel Mechanisms: Fundamental Design Criteria to Achieve Fully Decoupled Motion Characteristics and a State-of-the-Art Review

Author

Minh Tuan Pham, Song Huat Yeo, Tat Joo Teo, and School of Mechanical and Aerospace Engineering

Subjects
Three-Legged Parallel Mechanism, three-legged parallel mechanism, compliant mechanism, flexure-based mechanism, flexure, compliant joint, decoupled motion, coupled motion, stiffness, compliance, General Mathematics, Mechanical engineering [Engineering], Computer Science (miscellaneous), Compliant Mechanism, Engineering (miscellaneous)
Abstract

A three-legged compliant parallel mechanism (3L-CPM) achieves fully decoupled motions when its theoretical 6 × 6 stiffness/compliance matrix is a diagonal matrix, which only contains diagonal components, while all non-diagonal components are zeros. Because the motion decoupling capability of 3L-CPMs is essential in the precision engineering field, this paper presents the fundamental criteria for designing 3L-CPMs with fully decoupled motions, regardless of degrees-of-freedom and the types of flexure element. The 6 × 6 stiffness matrix of a general 3L-CPM is derived based on the orientation of each flexure element, e.g., thin/slender beam and notch hinge, etc., and its relative position to the moving platform. Based on an analytical solution, several requirements for the flexure elements were identified and needed to be satisfied in order to design a 3L-CPM with a diagonal stiffness/compliance matrix. In addition, the developed design criteria were used to analyze the decoupled-motion capability of some existing 3L-CPM designs and shown to provide insight into the motion characteristics of any 3L-CPM. Published version This research is funded by Vietnam National University HoChiMinh City (VNU-HCM), under grant number C2020-20-01.

Published
2022

5. Antagonistically actuated compliant joint: Torque and stiffness control

Author

Darwin G. Caldwell, Irene Sardellitti, Nikos G. Tsagarakis, Gianluca Palli, Sardellitti I., Palli G., Tsagarakis N.G., and Caldwell D.G.

Subjects
0209 industrial biotechnology, Engineering, Quantitative Biology::Tissues and Organs, Solenoid, 02 engineering and technology, Pneumatic muscle actuator, Computer Science::Robotics, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, medicine, Torque, Pneumatic actuator, business.industry, 020208 electrical & electronic engineering, Stiffness control, Stiffness, Control engineering, Variable stiffness, Nonlinear system, Joint stiffness, Compliant joint, Robot, medicine.symptom, business, Actuator
Abstract

The current research effort in the design of lightweight and safe robots is resulting in increased interest for the development of variable stiffness actuators. Antagonistic pneumatic muscle actuators (pMAs) have been proposed for this purpose, due to their inherent nonlinear spring behavior resulting from both air compressibility and their nonlinear force-length relation. This paper addresses the simultaneous torque and stiffness control of an antagonistically actuated joint with pneumatic muscles driven by compact, fast-switching solenoid valves. This strategy allows compensation of unmodeled joint dynamics while adjusting the joint stiffness depending on the task requirements. The proposed controller is based on a sliding mode force control applied to an average model of the valve-pneumatic muscle system. This was necessary to cope with both the well known model uncertainties of the pMA and the discontinuous on-off behavior of the solenoid valves. Preliminary experimental results verified the effectiveness of the proposed implementation.

Published
2010

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