A new pseudo-rigid-body model approach for modeling the quasi-static response of planar flexure-hinge mechanisms

Šalinić, Slaviša; Nikolić, Aleksandar

doi:10.1016/j.mechmachtheory.2018.02.011

Cited by 49 publications

(29 citation statements)

References 35 publications

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“…Owing to small size, high sensitivity, monolithic manufacturing process, zero backlash and friction, lack of lubrication, smooth motion, and virtually-infinite resolution of flexure hinges, they are widely used in compliant mechanisms for micro/ nano positioning, ultra-precise machining and manufacturing, and automated biological cell manipulation; other applications are in micro-positioning stages, scanning electron microscopy, X-ray lithography, and piezoelectric actuators. [1][2][3][4][5][6] Flexure hinges with various cutout profiles have been proposed and studied. [7][8][9][10][11][12] In 1965, Paros and Weisbord 13 proposed circular flexure hinges and derived simplified design equations, including a complete theoretical analysis.…”

Section: Introductionmentioning

confidence: 99%

Generalized model for conic-V-shaped flexure hinges

et al. 2020

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This paper presents a new class of flexure hinges, namely, conic-V-shaped flexure hinges (CFHs), which can be used as a generalized model for flexure hinges with profiles such as parabolic-V-shape, elliptical-V-shape, and hyperbolic-V-shape. Compliance and precision equations for the CFHs were derived as a set of nonlinear equations using Castigliano’s second theorem. The parameters of the nonlinear equations inputted to the compliance and precision matrices were based on the generalized equations used for conic curves in polar coordinates. Furthermore, the compliance equations were verified by means of finite element analysis and experiments. The errors in the finite element and experimental results were within 10% and 8% compared to the analytical results, respectively. Finally, the effects of dimensional parameters on the analytical model could be effectively analyzed by numerical simulations and comparisons.

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Section: Introductionmentioning

confidence: 99%

Generalized model for conic-V-shaped flexure hinges

et al. 2020

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“…Saggere and Kota [221] introduced a finite element type of model in which the beam was divided into more than three segments joined by torsional springs. Other developments on the pseudorigid-body model can be found in the works by Salinić and Nikolić [222] and Valentini and Pennestr I [223]. [228], constant-force mechanisms by Aten et al [229], Cartwheel flexure hinges by Pei and coworkers [105,106], to mention a few.…”

Section: Kinetostatic Modeling Of Compliant Mechanisms With Large Defmentioning

confidence: 99%

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Ling

Howell

Cao

et al. 2020

Applied Mechanics Reviews

163

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Flexure-based compliant mechanisms are becoming increasingly promising in precision engineering, robotics, and other applications due to the excellent advantages of no friction, no backlash, no wear, and minimal requirement of assembly. Because compliant mechanisms have inherent coupling of kinematic-mechanical behaviors with large deflections and/or complex serial-parallel configurations, the kinetostatic and dynamic analyses are challenging in comparison to their rigid-body counterparts. To address these challenges, a variety of techniques have been reported in a growing stream of publications. This paper surveys and compares the conceptual ideas, key advances, and applicable scopes, and open problems of the state-of-the-art kinetostatic and dynamic modeling methods for compliant mechanisms in terms of small and large deflections. Future challenges are discussed and new opportunities for extended study are highlighted as well. The presented review provides a guide on how to select suitable modeling approaches for those engaged in the field of compliant mechanisms.

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“…(24). Figure 7b shows the "+−" working mode, in which C P is a broken line path through points (− 15, 15), (0, 35), and (5,25).…”

Section: Simulation Example and Experimental Verificationmentioning

confidence: 99%

“…So far, research into the kinematics of 3-RRR PPM is gradually developing from research on forward and reverse solution modeling based on rigid body kinematics to research on modeling the quasi-static response of planar flexure-hinge mechanisms using the new pseudo-rigid-body model of flexure hinges [5], or research on the motion reliability analysis of a 3-RRR PPM with multiple uncertainties, which include manufacturing tolerances, input errors, and joint clearances [6]. Furthermore, dynamics analysis [4], and workspace and singularity analysis [7][8][9][10][11][12] of the manipulator have also attracted the wide attention of scholars.…”

Section: Introductionmentioning

confidence: 99%

Small-angle perturbation method for moving platform orientation to avoid singularity of asymmetrical 3-RRR planner parallel manipulator

Yin

Chen

Gao

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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To overcome the weakness of the present methods of singularity avoidance for 3-RRR planar parallel manipulator (PPM), a new method of avoiding singular points on planed paths in workspace via orientation perturbation to moving platforms is proposed. First, an inverse kinematics model of 3-RRR PPM is built. A discriminant matrix of type II singularity is specified and the mapping between determinant values of the matrix and points in workspace of 3-RRR PPM is defined as a singularity surface. Then, the planned path is regarded as a directrix and intersecting line between cylindrical surfaces (its generating line is parallel to the z-axis) and the singularity surface is defined as a singularity curve corresponding to a planned path. By determining the critical perturbation value of the moving platform's orientation angle, the maximum value of the singularity curve corresponding to the planned path is no larger than 0 or its minimum value is no smaller than 0. Therefore, singular points on the planned path are avoided by changing the moving platform's orientation angle without changing the planned path. Moreover, a numerical realization method is given; example and experiment verification indicates that singular points in the planned path can be avoided when perturbation to the moving platform's orientation angle is no larger than 0.1745 rad. Therefore, the proposed method lays a solid foundation for singularity-free kinematics control based on inverse solutions.

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A new pseudo-rigid-body model approach for modeling the quasi-static response of planar flexure-hinge mechanisms

Cited by 49 publications

References 35 publications

Generalized model for conic-V-shaped flexure hinges

Generalized model for conic-V-shaped flexure hinges

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Small-angle perturbation method for moving platform orientation to avoid singularity of asymmetrical 3-RRR planner parallel manipulator

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