Synthesis of Planar, Compliant Four-Bar Mechanisms for Compliant-Segment Motion Generation

[+] Author and Article Information
L. Saggere, S. Kota

Department of Mechanical Engineering and Applied Mechanics, University of Michigan, Ann Arbor, MI 48109

J. Mech. Des 123(4), 535-541 (Apr 01, 1999) (7 pages) doi:10.1115/1.1416149 History: Received April 01, 1999
Copyright © 2001 by ASME
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Illustration of the compliant-segment motion generation task
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Complaint four-bar mechanism for motion generation
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Boundary conditions set-up for dimensional synthesis of the segments
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Sign convention for slope-deflection equation. (a) Positive directions of end-rotations αN and αF, and chord rotation φ. (b) End-moments caused by a unit rotation at N. (c) End-moments caused by a unit rotation at F.
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Design parameters involved in synthesis of the segment A-B
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Model of curved beam using torsional springs and rigid elements
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Comparison of the static deformation of a flexible member using conventional beam elements (-+-) and the spring-model (-0-)
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Notation for the computational scheme of the finite-link model
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A schematic illustrating the design specifications
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A schematic illustrating the computed end-moments and end-forces
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Results of synthesis of segment AB
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Results of synthesis of segment CD
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Finite element analysis of the resulting complete mechanism after synthesizing the three segments: A-B, B-C, and C-D. (A-B-C-D represents the initial undeformed position of the mechanism, and A-b-c-D represents its final deformed position obtained by a finite-element analysis).




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