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Research Papers: Design of Mechanisms and Robotic Systems

Extension Effects in Compliant Joints and Pseudo-Rigid-Body Models

[+] Author and Article Information
Venkatasubramanian Kalpathy Venkiteswaran

Department of Mechanical
and Aerospace Engineering,
The Ohio State University,
Columbus, OH 43210
e-mail: kalpathyvenkiteswaran.1@osu.edu

Hai-Jun Su

Associate Professor
Department of Mechanical
and Aerospace Engineering,
The Ohio State University,
Columbus, OH 43210
e-mail: su.298@osu.edu

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received September 21, 2015; final manuscript received June 29, 2016; published online July 21, 2016. Assoc. Editor: Charles Kim.

J. Mech. Des 138(9), 092302 (Jul 21, 2016) (8 pages) Paper No: MD-15-1662; doi: 10.1115/1.4034111 History: Received September 21, 2015; Revised June 29, 2016

Compliant members come in a variety of shapes and sizes. While thin beam flexures are commonly used in this field, they can be replaced by soft members with lower aspect ratio. This paper looks to study the behavior of such elements by analyzing them from the view of beam theory for 2D cases. A modified version of the Timoshenko beam theory is presented which incorporates extension and Poisson's effects. The utility and validity of the new approach are demonstrated by comparing against Euler–Bernoulli beam theory, Timoshenko beam theory, and finite-element analysis (FEA). The results from this are then used to study the performance of pseudo-rigid-body models (PRBMs) for the analysis of low aspect ratio soft compliant joints for 2D quasi-static applications. A parallel-guiding mechanism comprised of similar compliant elements is analyzed using the new results to validate the contribution of this work.

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Figures

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Fig. 1

(a) Parallel-guiding mechanisms fabricated using single material (left) and multiple materials (right) and (b) force–displacement curves of two different parallel-guiding mechanisms obtained from experiments

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Fig. 2

Cantilever beam with end loads

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Fig. 3

(a) Tip plot of beam with fbg = 0.005 under the action of combined loads and (b) Error plot of beam tip with fbg = 0.005 when compared to FEA results

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Fig. 4

Error in tip deflection of beam under compressive loads in comparison to FEA

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Fig. 5

Bar chart showing extension of beam under transverse load for varying fbg

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Fig. 6

(a) Tip deflection error in PRBMs for fbg = 0.01 and (b) tip deflection error in optimized PRBMs for fbg = 0.01

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Fig. 7

Bar graph of PRB error with fbg for: (a) vertical load and (b) combined loads

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