Start Date
10-5-2019 10:15 AM
End Date
10-5-2019 11:30 AM
Document Type
Event
Keywords
Compliant Mechanisms, Computer-Aided Design, Spatial Stiffness
Description
This study begins to explore the use of 3-D printed compliant mechanisms for the simultaneous control of position and force of a robotic end-effector using kinestatic control. An important step in realizing this goal is developing a methodology to efficiently determine the stiffness and compliance matrices of the target mechanism. In this study, finite element analysis (FEA) was used to determine the stiffness matrices of a 3-D printed beam element and spring-like compliant mechanism. The FEA-based results for the beam matched analytical results from beam-bending theory and literature. The FEA-based results for the spring-like compliant mechanism were consistent with the dynamics of the mechanism. Physical experiments were performed to further validate the FEA- based results but deficiencies in these experiments prevented a complete analysis. A limited analysis of the collected data suggests that with minor alterations, corrected physical experiments will match the FEA-based results and validate the FEA-based method of determining a general compliant mechanism’s stiffness matrix.
DOI
https://doi.org/10.5038/QUOO1640
FEA-Based Determination of Stiffness Matrices for Compliant Mechanisms
This study begins to explore the use of 3-D printed compliant mechanisms for the simultaneous control of position and force of a robotic end-effector using kinestatic control. An important step in realizing this goal is developing a methodology to efficiently determine the stiffness and compliance matrices of the target mechanism. In this study, finite element analysis (FEA) was used to determine the stiffness matrices of a 3-D printed beam element and spring-like compliant mechanism. The FEA-based results for the beam matched analytical results from beam-bending theory and literature. The FEA-based results for the spring-like compliant mechanism were consistent with the dynamics of the mechanism. Physical experiments were performed to further validate the FEA- based results but deficiencies in these experiments prevented a complete analysis. A limited analysis of the collected data suggests that with minor alterations, corrected physical experiments will match the FEA-based results and validate the FEA-based method of determining a general compliant mechanism’s stiffness matrix.