Design and analysis of a compliant variable-diameter mechanism used in variable-diameter wheels for lunar rover

Zhang, Wen; Gao, Feng; Jiang, Hui; Huang, Chuan Jin; Liu, Jianxing; Li, Hanfei

doi:10.1016/j.mechmachtheory.2018.03.003

Cited by 23 publications

(13 citation statements)

References 18 publications

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“…According to the pitch curves obtained by Equations (3), (10), (16), and (17), the grooves of each cam on experiment set of deployable arc profiling mechanism are processed. The experiment set uses a servomotor to drive the push linkage.…”

Section: Prototype Verificationmentioning

confidence: 99%

“…Deployable mechanism with polyhedron shape different from an arc or a curved surface was also proposed [9]. With the introduction of flexible components, a rigid-flexible coupling state was appeared in the deployable mechanism [10]. The related design methods such as graph theory, flow value method, bionics method, and topology method were also reported [11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

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Design and Experiment of Symmetrical Shape Deployable Arc Profiling Mechanism Based on Composite Multi-Cam Structure

Yang

Duan

et al. 2019

Symmetry

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At present, there are few reports on the profiling mechanism that can achieve surface envelope profiling along the surface of a shaft whose radius is constantly changing. Existing profiling mechanisms cannot achieve this function. To this end, a novel deployable arc profiling mechanism is presented in this paper. The mechanism can realize centering deployment along the shaft with a changing radius. The radius of the deployable arc can be adapted to the continuous change of shaft radius, and its surface can always maintain the arc shape for surface envelope profiling. The mechanism is mainly composed of compound cams. Each cam contains multiple grooves, and each groove connects to an arc support linkage. The arc support linkage is controlled by the compound motion of cams in different layers. The pitch curve of each groove is designed by applying the method of relative motion and inverse solution and obtained various parameter equations of the mechanism. The feasibility of this mechanism is verified by analysis, experiment, and application test. The results show that the proposed deployable arc profiling mechanism can achieve the design purpose and the profiling accuracy is kept above 96.425%.

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Section: Prototype Verificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Experiment of Symmetrical Shape Deployable Arc Profiling Mechanism Based on Composite Multi-Cam Structure

Yang

Duan

et al. 2019

Symmetry

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“…Compliant mechanisms [1] are the new type of mechanisms which use the elastic deformation of flexure members to achieve the expected function. Compared with traditional rigid hinges, the flexure hinges for compliant mechanisms are widely used in micro-electro-mechanical system (MEMS) [2-4], medical equipment [5], aerospace engineering [6,7], precision instruments [8,9] and some parallel manipulator [10][11][12][13] due to their substantial advantages: frictionless, zero backlash, lightweight and compact.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of porous flexure hinge based on dual-objective topology optimization of three-dimensional continuum

Qiu

Yue

Zheng

et al. 2020

J Braz. Soc. Mech. Sci. Eng.

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This paper properly presents a dual-objective topology optimization mathematical model for compliance and precision performance of flexure hinges based on the three-dimensional continuum topology optimization. The OptiStruct module is applied to solving the problem. And through the post-processing design and parameterization of the results, a single-axis quasi-leaf porous flexure hinge (QLPFH) is generated. The dimensionless empirical equations of the stiffness and rotational center of the hinge are derived by finite element analysis, and the performance of the flexure hinge under different dimensionless parameters is analyzed. Comparing the QLPFH and the leaf flexure hinge (LFH) with the same external space dimensions, the results show that the translational stiffness of the LFH in the desired working direction and the rotational stiffness are much larger than those of the QLPFH. In addition, in the case of the stiffness of the QLPFH is greatly reduced, its precision performance has also been improved to a certain extent. The feasibility of dual-objective design method based on three-dimensional continuum topology optimization is further confirmed.

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“…Expandable mechanisms allow the adjustment of wheel diameter, and different types have been proposed in recent years. The diagrams of the principles behind these mechanisms are provided in [9]. These mechanisms can be categorized into rigid-body mechanisms [10][11][12][13] and compliant mechanisms [14][15][16].…”

Section: Introductionmentioning

confidence: 99%

“…A repeatedly deployable compliant mechanism in the radial plane is desired for an expandable wheel. The mechanism in a variable-diameter wheel, which is an expandable wheel, is an example [9,19,20].…”

Section: Introductionmentioning

confidence: 99%

Development of a Novel Variable-Diameter Wheel

Zhang

Jiang

et al. 2019

Applied Sciences

Self Cite

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Variable-diameter wheels balance the high mobility and limited volume of a planetary rover. Moreover, these wheels allow a rover to adjust its body attitude to adapt to rough terrains. These functions are achieved through the expansion–retraction motion of the variable-diameter mechanisms in the wheels. Thus, the traditional wheel design focuses on these mechanisms. To further facilitate its application, we propose a new concept variable-diameter wheel that considers the mechanism characteristics and wheel performances. This new wheel configuration is presented along with the corresponding transmission system, design, and analysis methods. Kinematic equations of the mechanism were established and then applied to synthesize the wheel dimensions. The load–deflection relationship of the wheels was analytically derived by developing a modified pseudo-rigid-body model (PRBM). Finite element analysis (FEA) simulations were performed to validate the design and analysis. In conclusion, the proposed novel wheel is extremely beneficial for rough-terrain locomotion systems. Furthermore, the design and analysis approaches used in this study are applicable for other expandable wheels.

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Design and analysis of a compliant variable-diameter mechanism used in variable-diameter wheels for lunar rover

Cited by 23 publications

References 18 publications

Design and Experiment of Symmetrical Shape Deployable Arc Profiling Mechanism Based on Composite Multi-Cam Structure

Design and Experiment of Symmetrical Shape Deployable Arc Profiling Mechanism Based on Composite Multi-Cam Structure

Design and analysis of porous flexure hinge based on dual-objective topology optimization of three-dimensional continuum

Development of a Novel Variable-Diameter Wheel

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