Pseudo-Rigid-Body Model Chain Algorithm: Part 2 -- Equivalent Representations for Combined Load Boundary Conditions
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 pseudo-rigid-body model chain algorithm provides reasonable approximations of the deformed shape of complex compliant members; however, it has one major limitation. The elastic deformation of each compliant segment under combined load boundary conditions is obtained by superposing the pseudo-rigid-body model displacements due to i) the force and ii) the moment loads, respectively. Hence, each segment needs to be characterized by two separate pseudo-rigid-body models in order to accurately determine its deformation kinematics. Such an idealization of compliant segments would present significant challenges when attempting to represent the pseudo-rigid-body model chain in vectorial form, as in planar vector loop-closure methods. Vectorial modeling would be possible if each flexible segment in the chain could be represented by an “equivalent pseudo-rigid-body model.” This paper proposes the concept of a rudimentary equivalent pseudo-rigid-body model to represent compliant segments with combined load boundary conditions in the pseudo-rigid-body model chain algorithm. Such a model may help overcome the difficulties confronted in the potential implementation of the pseudo-rigid-body model chain in planar vector loop-closure solution techniques.
J. Pauly and A. Midha, "Pseudo-Rigid-Body Model Chain Algorithm: Part 2 -- Equivalent Representations for Combined Load Boundary Conditions," 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/DETC2006-99463
30th Annual Mechanisms and Robotics Conference (2006: Sep. 10-13, Philadelphia, PA)
Mechanical and Aerospace Engineering
Keywords and Phrases
Compliant Mechanism Design; Pseudo-Rigid-Body Model; Rigid-Body Mechanisms
Article - Conference proceedings
© 2006 American Society of Mechanical Engineers (ASME), All rights reserved.
13 Sep 2006