An intrinsic geometric framework for the building block synthesis of single point compliant mechanisms

Girish Krishnan, Charles Kim, Sridhar Kota

Research output: Contribution to journalArticlepeer-review

Abstract

In this paper, we implement a characterization based on eigentwists and eigenwrenches for the synthesis of a compliant mechanism at a given point. For 2D mechanisms, this involves characterizing the compliance matrix at a unique point called the center of elasticity, where translational and rotational compliances are decoupled. Furthermore, the translational compliance may be represented graphically as an ellipse and the coupling between the translational and rotational components as vectors. These representations facilitate geometric insight into the operations of serial and parallel concatenations. Parametric trends are ascertained for the compliant dyad building block and are utilized in example problems involving serial concatenation of building blocks. The synthesis technique is also extended to combination of series and parallel concatenation to achieve any compliance requirements.

Original languageEnglish (US)
Article number011001
JournalJournal of Mechanisms and Robotics
Volume3
Issue number1
DOIs
StatePublished - Nov 23 2010
Externally publishedYes

ASJC Scopus subject areas

  • Mechanical Engineering

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