Analytical Compliance Modeling of Serial Flexure-Based Compliant Mechanism Under Arbitrary Applied Load

Li-Ping Wang, Yao Jiang, Tie-Min Li

Chinese Journal of Mechanical Engineering ›› 2017, Vol. 30 ›› Issue (4) : 951-962.

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Chinese Journal of Mechanical Engineering ›› 2017, Vol. 30 ›› Issue (4) : 951-962. DOI: 10.1007/s10033-017-0138-9
Robotics

Analytical Compliance Modeling of Serial Flexure-Based Compliant Mechanism Under Arbitrary Applied Load

  • Li-Ping Wang1,2, Yao Jiang3, Tie-Min Li1,2
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Abstract

Analytical compliance model is vital to the flexure-based compliant mechanism in its mechanical design and motion control. The matrix is a common and effective approach in the compliance modeling while it is not well developed for the closed-loop serial and parallel compliant mechanisms and is not applicable to the situation when the external loads are applied on the flexure members. Concise and explicit analytical compliance models of the serial flexure-based compliant mechanisms under arbitrary loads are derived by using the matrix method. An equivalent method is proposed to deal with the situation when the external loads are applied on the flexure members. The external loads are transformed to concentrated forces applied on the rigid links, which satisfy the equations of static equilibrium and also guarantee that the deformations at the displacement output point remain unchanged. Then the matrix method can be still adopted for the compliance analysis of the compliant mechanism. Finally, several specific examples and an experimental test are given to verify the effectiveness of the compliance models and the force equivalent method. The research enriches the matrix method and provides concise analytical compliance models for the serial compliant mechanism.

Key words

Compliant mechanism / Compliance modeling / Matrix method

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Li-Ping Wang, Yao Jiang, Tie-Min Li. Analytical Compliance Modeling of Serial Flexure-Based Compliant Mechanism Under Arbitrary Applied Load[J]. Chinese Journal of Mechanical Engineering, 2017, 30(4): 951-962 https://doi.org/10.1007/s10033-017-0138-9

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Funding

Supported by National Natural Science Foundation of China (Grant No.51675292), National Science and Technology Major Project of China (Grant No. 2015ZX04001002), and Tsinghua University Initiative Scientific Research Program (Grant No. 2014z22068)
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