TY - JOUR
T1 - A nonlinear analysis of spatial compliant parallel modules
T2 - Multi-beam modules
AU - Hao, Guangbo
AU - Kong, Xianwen
AU - Reuben, Robert L.
PY - 2011/5
Y1 - 2011/5
N2 - This paper presents normalized, nonlinear and analytical models of spatial compliant parallel modules-multi-beam modules with a large range of motion. The models address the non-linearity of load-equilibrium equations, applied in the deformed configuration, under small deflection hypothesis. First, spatial nonlinear load-displacement equations of the tip of a beam, conditions of geometry compatibility and load-equilibrium conditions for a spatial three-beam module are derived. The nonlinear and analytical load-displacement equations for the three-beam module are then solved using three methods: approximate analytical method, improved analytical method and numerical method. The nonlinear-analytical solutions, linear solutions and large-deflection FEA solutions are further analyzed and compared. FEA verifies that the accuracy of the proposed nonlinear-analytical model is acceptable. Moreover, a class of multi-beam modules with four or more beams is proposed, and their general nonlinear load-displacement equations are obtained based on the approximate load-displacement equations of the three-beam module. The proposed multi-beam modules and their nonlinear models have potential applications in the compliant mechanism design. Especially, the multi-beam modules can be regarded as building blocks of novel compliant parallel mechanisms. © 2010 Elsevier Ltd. All rights reserved.
AB - This paper presents normalized, nonlinear and analytical models of spatial compliant parallel modules-multi-beam modules with a large range of motion. The models address the non-linearity of load-equilibrium equations, applied in the deformed configuration, under small deflection hypothesis. First, spatial nonlinear load-displacement equations of the tip of a beam, conditions of geometry compatibility and load-equilibrium conditions for a spatial three-beam module are derived. The nonlinear and analytical load-displacement equations for the three-beam module are then solved using three methods: approximate analytical method, improved analytical method and numerical method. The nonlinear-analytical solutions, linear solutions and large-deflection FEA solutions are further analyzed and compared. FEA verifies that the accuracy of the proposed nonlinear-analytical model is acceptable. Moreover, a class of multi-beam modules with four or more beams is proposed, and their general nonlinear load-displacement equations are obtained based on the approximate load-displacement equations of the three-beam module. The proposed multi-beam modules and their nonlinear models have potential applications in the compliant mechanism design. Especially, the multi-beam modules can be regarded as building blocks of novel compliant parallel mechanisms. © 2010 Elsevier Ltd. All rights reserved.
KW - Compliant mechanisms
KW - Nonlinear analysis
KW - Spatial modules
UR - http://www.scopus.com/inward/record.url?scp=79951952206&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2010.12.007
DO - 10.1016/j.mechmachtheory.2010.12.007
M3 - Article
SN - 0094-114X
VL - 46
SP - 680
EP - 706
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
IS - 5
ER -