Rigid-body mechanisms (RBMs) and compliant mechanisms (CMs) are traditionally treated in significantly different ways. In this paper, we present a synthesis approach that is appropriate for both RBMs and CMs. In this approach, RBMs and CMs are generalized into modularized mechanisms that consist of five basic modules, including compliant links (CLs), rigid links (RLs), pin joints (PJs), compliant joints (CJs), and rigid joints (RJs). The link modules and joint modules are modeled through beam elements and hinge elements, respectively, in a geometrically nonlinear finite-element solver, and subsequently a beam-hinge ground structure model is proposed. Based on this new model, a link and joint determination approach—module optimization—is developed for the type and dimensional synthesis of both RBMs and CMs. In the module optimization approach, the states (both presence or absence and sizes) of joints and links are all design variables, and one may obtain an RBM, a partially CM, or a fully CM for a given mechanical task. Three design examples of path generators are used to demonstrate the effectiveness of the proposed approach to the type and dimensional synthesis of RBMs and CMs.
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December 2015
Research-Article
Toward a Unified Design Approach for Both Compliant Mechanisms and Rigid-Body Mechanisms: Module Optimization
Lin Cao,
Lin Cao
Complex and Intelligent Systems Center,
East China University of Science and Technology,
Shanghai 200038, China;
East China University of Science and Technology,
Shanghai 200038, China;
Department of Mechanical Engineering,
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: lic909@mail.usask.ca
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: lic909@mail.usask.ca
Search for other works by this author on:
Allan T. Dolovich,
Allan T. Dolovich
Department of Mechanical Engineering,
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: atd440@mail.usask.ca
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: atd440@mail.usask.ca
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Arend L. Schwab,
Arend L. Schwab
Department of BioMechanical Engineering,
Delft University of Technology,
Delft NL 2628 CD, The Netherlands
e-mail: a.l.schwab@tudelft.nl
Delft University of Technology,
Delft NL 2628 CD, The Netherlands
e-mail: a.l.schwab@tudelft.nl
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Just L. Herder,
Just L. Herder
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Delft NL 2628 CD, The Netherlands
e-mail: j.l.herder@tudelft.nl
Microsystems Engineering,
Delft University of Technology,
Delft NL 2628 CD, The Netherlands
e-mail: j.l.herder@tudelft.nl
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Wenjun (Chris) Zhang
Wenjun (Chris) Zhang
Complex and Intelligent Systems Center,
East China University of Science and Technology,
Shanghai 200038, China;
East China University of Science and Technology,
Shanghai 200038, China;
Department of Mechanical Engineering,
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: wjz485@mail.usask.ca
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: wjz485@mail.usask.ca
Search for other works by this author on:
Lin Cao
Complex and Intelligent Systems Center,
East China University of Science and Technology,
Shanghai 200038, China;
East China University of Science and Technology,
Shanghai 200038, China;
Department of Mechanical Engineering,
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: lic909@mail.usask.ca
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: lic909@mail.usask.ca
Allan T. Dolovich
Department of Mechanical Engineering,
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: atd440@mail.usask.ca
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: atd440@mail.usask.ca
Arend L. Schwab
Department of BioMechanical Engineering,
Delft University of Technology,
Delft NL 2628 CD, The Netherlands
e-mail: a.l.schwab@tudelft.nl
Delft University of Technology,
Delft NL 2628 CD, The Netherlands
e-mail: a.l.schwab@tudelft.nl
Just L. Herder
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Delft NL 2628 CD, The Netherlands
e-mail: j.l.herder@tudelft.nl
Microsystems Engineering,
Delft University of Technology,
Delft NL 2628 CD, The Netherlands
e-mail: j.l.herder@tudelft.nl
Wenjun (Chris) Zhang
Complex and Intelligent Systems Center,
East China University of Science and Technology,
Shanghai 200038, China;
East China University of Science and Technology,
Shanghai 200038, China;
Department of Mechanical Engineering,
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: wjz485@mail.usask.ca
University of Saskatchewan,
Saskatoon, SK S7N 5A9, Canada
e-mail: wjz485@mail.usask.ca
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received January 6, 2015; final manuscript received July 19, 2015; published online October 15, 2015. Assoc. Editor: Charles Kim.
J. Mech. Des. Dec 2015, 137(12): 122301 (10 pages)
Published Online: October 15, 2015
Article history
Received:
January 6, 2015
Revised:
July 19, 2015
Citation
Cao, L., Dolovich, A. T., Schwab, A. L., Herder, J. L., and Zhang, W. (. (October 15, 2015). "Toward a Unified Design Approach for Both Compliant Mechanisms and Rigid-Body Mechanisms: Module Optimization." ASME. J. Mech. Des. December 2015; 137(12): 122301. https://doi.org/10.1115/1.4031294
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