Research Papers: Mechanisms and Robotics

Comparison of Molecular Simulation and Pseudo-Rigid-Body Model Predictions for a Carbon Nanotube–Based Compliant Parallel-Guiding Mechanism

[+] Author and Article Information
Christopher M. DiBiasio, Martin L. Culpepper, Robert Panas

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

Larry L. Howell, Spencer P. Magleby

Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602

J. Mech. Des 130(4), 042308 (Mar 20, 2008) (7 pages) doi:10.1115/1.2885192 History: Received December 13, 2006; Revised January 17, 2008; Published March 20, 2008

We report on the accuracy of the pseudo-rigid-body model (PRBM) in predicting the behavior of a nanoscale parallel-guiding mechanism (nPGM) that uses two single-walled (5,5) carbon nanotubes (CNTs) as the flexural guiding elements. The nPGM has two regions of behavior: region 1 is governed by the bulk deformation of the nanotubes, and region 2 is characterized by hingelike flexing of four “kinks” that occur due to buckling of the nanotube walls. PRBM parameters for (5,5) CNTs are proposed. Molecular simulation results of region 1 behavior match PRBM predictions of (1) kinematic behavior with less than 7.3% error and (2) elastomechanic behavior with less than 5.7% error. Although region 1 is of more interest because of its well-defined and stable nature, region 2 motion is also investigated. We show that the PRBM parameters are dependent on the selection of the effective tube thickness and moment of inertia, the lesson being that designers must take care to consider the thickness and moment of inertia values when deriving PRBM constants.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 1

(a) A generic compliant PGM building block and (b) a CNT-based compliant PGM

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Figure 2

Example device that uses series (a-b) and parallel (sets 1-2) arrangements of compliant PGMs

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Figure 3

Compliant PGM and its PRB mechanism analog

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Figure 4

Side view of (5,5) SWCNT adjacent to its matching graphene sheet

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Figure 5

CNT-based nPGM model (all dimensions in Å)

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Figure 6

Images of the CNT-based compliant PGM in (a) region 1 and (b) region 2 behaviors

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Figure 7

MM simulation results for (a) translation kinematics (9), and (b) rotation kinematics (9), and (c) comparison between conventional PRBM and MM simulation of translation kinematics

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Figure 8

(a) Elastomechanic behavior from molecular simulations (9), (b) the relationship between assumed wall thickness and Kθ, and the match between MS and PRBM for values of (c) γ and (d) Kθ




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