Pseudo-Rigid-Body Model Chain Algorithm: Part 1 -- Introduction and Concept Development
Pseudo-rigid-body models help expedite the compliant mechanism design process by aiding the analysis and synthesis of candidate design solutions, using loop-closure techniques for rigid-body mechanisms. Presently, these models are available only for relatively simple compliant beam geometries and loading situations. The chain algorithm is an alternate method for the design and analysis of compliant mechanisms. Though more versatile, insofar as the geometry and loading are concerned, it is not possible to implement this technique in analysis or synthesis problems involving loop-closure equations. This paper proposes the construction of a generalized “pseudo-rigid-body model chain;” it allows the use of pseudo-rigid-body models in conjunction with the chain algorithm to obtain the deformation kinematics of complex compliant members. Such a “pseudo-rigid-body model chain” would possess dual advantages of expediency of modeling through the use of pseudo-rigid-body representations of compliant segments, and the inherent flexibility of the chain algorithm to geometry and load boundary conditions. The proposed technique involves discretization of the planar continuum into initially straight, equal length compliant segments, whose deflections due to the applied load boundary conditions are then determined using appropriate pseudo-rigid-body models. Such a model could potentially be used in the solution of compliant mechanism design and analysis problems when coupled with the use of loop-closure equations.
J. Pauly and A. Midha, "Pseudo-Rigid-Body Model Chain Algorithm: Part 1 -- Introduction and Concept Development," Proceedings of the 30th Annual Mechanisms and Robotics Conference (2006, Philadelphia, PA), American Society of Mechanical Engineers (ASME), Sep 2006.
The definitive version is available at https://doi.org/10.1115/DETC2006-99460
30th Annual Mechanisms and Robotics Conference (2006: Sep. 10-13, Philadelphia, PA)
Mechanical and Aerospace Engineering
Keywords and Phrases
Design Solutions; Pseudo-Rigid-Body; Rigid-Body Mechanisms
Article - Conference proceedings
© 2006 American Society of Mechanical Engineers (ASME), All rights reserved.
13 Sep 2006