Session: MR-03-01 Compliant Mechanisms (A. Midha Symposium)

Paper Number: 69726

Start Time: August 17, 03:20 PM

69726 - Design of a Monolithic Constant-Force Compliant Mechanism for Extended Range of Motion and Minimal Force Variation 

Compliant mechanisms enable passive force control through induction of strain energy during deformation. This is perceived as a desired factor for developing precise handling equipment of limited size where additional sensors and controls are inessential to its operation. In this paper, our objective is to design a monolithic constant-force compliant mechanism to be integrated in a constant-force gripper for extended range of bilateral motion. A compliant topology synthesis method is proposed by means of genetic algorithm for optimization, and method of vector form intrinsic finite element for nonlinear structural deformation analysis. This article adapts compliant topology as homogeneous beam configurations that exhibit zero stiffness behavior over a pre-established effective region. The optimization generates discrete shaping parameters for formation of an optimal geometry. The vector form intrinsic finite element that accounts for large displacement motion is adopted to calculate the structure’s force-displacement relation for obtaining the discrepancy between the designed and target values. The optimized results are further verified using conventional finite element method. A conceptual gripper design is proposed with a pair of embedded constant-force compliant mechanisms. This procedure prepares a general guideline for future development of passive compliant devices that require accurate force regulation over a wide range of motion.

Presenting Author: Ching-Wei Lo National Taiwan University

Authors:

Ching-Wei Lo National Taiwan University
Yuan Chang National Taiwan University
Mien-Li Wang National Taiwan University
Cian-Ru Lin National Taiwan University
Jyh-Jone Lee National Taiwan University