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A Substructure Condensed Approach for Kinetostatic Modeling of Compliant Mechanisms with Complex Topology

Compliant mechanisms with complex topology have previously been employed in various precision devices due to the superiorities of high precision and compact size. In this paper, a substructure condensed approach for kinetostatic analysis of complex compliant mechanisms is proposed to provide concise...

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Autores principales: Wu, Shilei, Shao, Zhongxi, Fu, Hongya
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9606961/
https://www.ncbi.nlm.nih.gov/pubmed/36296086
http://dx.doi.org/10.3390/mi13101734
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author Wu, Shilei
Shao, Zhongxi
Fu, Hongya
author_facet Wu, Shilei
Shao, Zhongxi
Fu, Hongya
author_sort Wu, Shilei
collection PubMed
description Compliant mechanisms with complex topology have previously been employed in various precision devices due to the superiorities of high precision and compact size. In this paper, a substructure condensed approach for kinetostatic analysis of complex compliant mechanisms is proposed to provide concise solutions. In detail, the explicit relationships between the theoretical stiffness matrix, element stiffness matrix, and element transfer matrix for the common flexible beam element are first derived based on the energy conservation law. The transfer matrices for three types of serial–parallel substructures are then developed by combining the equilibrium equations of nodal forces with the transfer matrix approach, so that each branch chain can be condensed into an equivalent beam element. Based on the derived three types of transfer matrices, a kinetostatic model describing only the force-displacement relationship of the input/output nodes is established. Finally, two typical precision positioning platforms with complex topology are employed to demonstrate the conciseness and efficiency of this modeling approach. The superiority of this modeling approach is that the input/output stiffness, coupling stiffness, and input/output displacement relations of compliant mechanisms with multiple actuation forces and complex substructures can be simultaneously obtained in concise and explicit matrix forms, which is distinct from the traditional compliance matrix approach.
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spelling pubmed-96069612022-10-28 A Substructure Condensed Approach for Kinetostatic Modeling of Compliant Mechanisms with Complex Topology Wu, Shilei Shao, Zhongxi Fu, Hongya Micromachines (Basel) Article Compliant mechanisms with complex topology have previously been employed in various precision devices due to the superiorities of high precision and compact size. In this paper, a substructure condensed approach for kinetostatic analysis of complex compliant mechanisms is proposed to provide concise solutions. In detail, the explicit relationships between the theoretical stiffness matrix, element stiffness matrix, and element transfer matrix for the common flexible beam element are first derived based on the energy conservation law. The transfer matrices for three types of serial–parallel substructures are then developed by combining the equilibrium equations of nodal forces with the transfer matrix approach, so that each branch chain can be condensed into an equivalent beam element. Based on the derived three types of transfer matrices, a kinetostatic model describing only the force-displacement relationship of the input/output nodes is established. Finally, two typical precision positioning platforms with complex topology are employed to demonstrate the conciseness and efficiency of this modeling approach. The superiority of this modeling approach is that the input/output stiffness, coupling stiffness, and input/output displacement relations of compliant mechanisms with multiple actuation forces and complex substructures can be simultaneously obtained in concise and explicit matrix forms, which is distinct from the traditional compliance matrix approach. MDPI 2022-10-13 /pmc/articles/PMC9606961/ /pubmed/36296086 http://dx.doi.org/10.3390/mi13101734 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Wu, Shilei
Shao, Zhongxi
Fu, Hongya
A Substructure Condensed Approach for Kinetostatic Modeling of Compliant Mechanisms with Complex Topology
title A Substructure Condensed Approach for Kinetostatic Modeling of Compliant Mechanisms with Complex Topology
title_full A Substructure Condensed Approach for Kinetostatic Modeling of Compliant Mechanisms with Complex Topology
title_fullStr A Substructure Condensed Approach for Kinetostatic Modeling of Compliant Mechanisms with Complex Topology
title_full_unstemmed A Substructure Condensed Approach for Kinetostatic Modeling of Compliant Mechanisms with Complex Topology
title_short A Substructure Condensed Approach for Kinetostatic Modeling of Compliant Mechanisms with Complex Topology
title_sort substructure condensed approach for kinetostatic modeling of compliant mechanisms with complex topology
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9606961/
https://www.ncbi.nlm.nih.gov/pubmed/36296086
http://dx.doi.org/10.3390/mi13101734
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