Topological and Shape Optimization of Flexure Hinges for Designing Compliant Mechanisms Using the Level Set Method

A flexure hinge is a major component in designing compliant mechanisms that o ers unique possibilities in a wide range of application fields in which high positioning accuracy is required. Although various flexure hinges with di erent configurations have been successively proposed, they are often designed based on designers' experiences and inspirations. This study presents a systematic method for topological optimization of flexure hinges by using the level set method. Optimization formulations are developed by considering the functional requirements and geometrical constraints of flexure hinges. The functional requirements are first constructed by maximizing the compliance in the desired direction while minimizing the compliances in the other directions. The weighting sum method is used to construct an objective function in which a self-adjust method is used to set the weighting factors. A constraint on the symmetry of the obtained configuration is developed. Several numerical examples are presented to demonstrate the validity of the proposed method. The obtained results reveal that the design of a flexure hinge starting from the topology level can yield more choices for compliant mechanism design and obtain better designs that achieve higher performance.

Analysis of the Micro-Rotation Compliant Mechanism Based on the Corner-Filleted Flexure Hinges

The purpose of this thesis is to derive the flexibility formula of the corner-filleted flexure hinge easily and conveniently and use it to design a micro-rotation compliant mechanism. Firstly,we get the corner-filleted flexure hinge flexibility formula by methods of symmetry transformation and coordinates translation. The correctness of this formula is validated on the basis of the finite element method and under the premise that the effects of shear stress are taken into consideration. Then a micro-rotation compliant mechanism is designed in accordance with the corner-filleted flexure hinge,and the deduction and analysis of its working moment/rigidity are conducted. Moreover,this theoretical formula is proved to be accurate and reliable through the finite element analysis and the experimental verification,based on which the structural design and optimization can be made on the rotating part of a micro adjustment device. The results illustrate that designing and optimizing the structures by the analysis model is convenient and reliable so that complicated 3D modeling and finite element analysis are not needed.

Simulation optimal design of a compliant mechanism with circular notch flexure hinges based on the equivalent beam methodology

This paper presents an in-depth study of Equivalent beam model (EBM).Firstly three-dimensional (3D) finite element analysis (FEA) model for circular flexure hinge developed by Zettl et al.was verified by the comparison with Smith's experimental results and the 3D FEA model was feasible within 5.5% error.Then the accuracy of Timoshenko short-beam due to shear force was verified based on finite element method.The results showed that the EBM has good accuracy within 5% error for 1≤r/t≤3.Finally the EBM methodology was applied for the simulation optimal design of a bridge-type compliant mechanism.The results showed that the EBM methodology has very high numerical efficiency and satisfactory accuracy for simulation optimal design of planar compliant mechanism with flexure hinges.

Dynamic Analysis of Four-Bar Beating-up Mechanism with Joint Clearance

For the four-bar beating-up mechanism of air-jet loom,the plain bearing of linkage is the bearing with dynamic load,and is immersed in the lubricant-box.If the joint clearance is considered,the research on linkage movement could be very complicated.In this paper,the kinematic characteristics of four-bar beating-up mechanism with joint clearance were studied by analyzing the trace of journal center and the balance of radial,tangential forces,and bearing load.The region of principal vibration and its forming causes were discussed.And the results could interpret the measuring curves of four-bar beating-up mechanism completely.

Quantitative analysis of the morphing wing mechanism of raptors: Analysis methods, folding motions, and bionic design of Falco Peregrinus

Raptors can change the shape and area of their wings to an exceptional degree in a fast and efficient manner,surpassing other birds,insects,or bats.Some researchers have focused on the functional properties of muscle skeletons,mechanics,and flapping robot design.However,the wing motion of the birds of prey has not been measured quantitatively,and synthetic bionic wings with morphing abilities similar to raptors are far from reality.Therefore,in the current study,a 3D suspension system for holding bird carcasses was designed and fabricated to fasten the wings of Falco Peregrinus with a series of morphing postures.Subsequently,the wing skeleton of the falcon was scanned during extending motions using the computed tomography(CT)approach to obtain three consecutive poses.Subsequently,the skeleton was reconstructed to identify the contribution of the forelimb bones to the extending/folding motions.Inspired by these findings,we propose a simple mechanical model with four bones to form a wing-morphing mechanism using the proposed pose optimisation method.Finally,a bionic wing mechanism was implemented to imitate the motion of the falcon wing—divided into inner and outer wings with folding and twisting motions.The results show that the proposed four-bar mechanism can track bone motion paths with high fidelity.

Design and Experiment of Triangular Prism Mast with Tape-Spring Hyperelastic Hinges

Because of the limited space of the launch rockets, deployable mechanisms are always used to solve the phenomenon. One dimensional deployable mast can deploy and support antenna, solar sail and space optical camera. Tape-spring hyperelastic hinges can be folded and extended into a rod like configuration. It utilizes the strain energy to realize self-deploying and drive the other structures. One kind of triangular prism mast with tape-spring hyperelastic hinges is proposed and developed. Stretching and compression stiffness theoretical model are established with considering the tape-spring hyperelastic hinges based on static theory. The finite element model of ten-module triangular prism mast is set up by ABAQUS with the tape-spring hyperelastic hinge and parameter study is performed to investigate the influence of thickness, section angle and radius. Two-module TPM is processed and tested the compression stiffness by the laser displacement sensor, deploying repeat accuracy by the high speed camera, modal shape and fundamental frequency at cantilever position by LMS multi-channel vibration test and analysis system, which are used to verify precision of the theoretical and finite element models of ten-module triangular prism mast with the tape-spring hyperelastic hinges. This research proposes an innovative one dimensional triangular prism with tape-spring hyperelastic hinge which has great application value to the space deployable mechanisms.

A Novel 2D Piezo-Nanopositioning Stage Based on Triangle Amplifier Mechanism

To satisfy the demand on dynamic performance and load characteristics of piezoelectric actuators in aeronautics and astronautics fields,a novel 2Dpiezo-nanopositioning stage utilizing a triangle amplifier mechanism is proposed.The stage is driven by piezoelectric rhombic units in both X and Ydirections,which is composed of four piezoelectric stacks.Theoretical static model develops the relationships among output force,displacement,static stiffness and the structure parameters of the platform.The experimental results of the prototype show that the output performances in X and Ydirections are similar and both of them are within an 8% deviation from the theoretical values.The stroke of the stage reaches 41.6μm and 42.9μm in Xand Ydirections,respectively,and is directly proportional to the amplitude of the input sinusoidal voltage 10 Hz.Moreover,the nano-positioning stage is featured with bidirectional symmetrical output characteristic and millisecond starting characteristic,whose minimum output displacement step is 50 nm.

Simulation and Analysis of Spatial Weft Insertion Mechanism Considering Flexibility and Clearance

A 3D model of the spatial four-bar weft insertion mechanism was built with unigraphics NX(UG) according to the actual requirement,and dynamics simulation was carried out by importing the model into ADAMS.Without considering the clearance,the motion characteristic curve of the sword belt was generated through ADAMS combined with MATLAB.In this paper the hinge between the rod and the sector gear was selected as an example with different values of clearance,outputting the motion characteristic curve of the sword belt.Finite element analysis(FEA)was conducted,the flexible body was generated by importing the forked frame into ANSYS,and flexible dynamics simulation was carried out by importing the flexible body into ADAMS to replace the rigid rod.A comprehensive comparison of the output characteristics of the sword belt was conducted in the consideration of the clearance or flexible.Analysis of the force on the left hinge of the rod was carried out with the ADAMS post processing module.With the same clearance,considering the flexibility,amplitude of fluctuation of the force on the hinge increased obviously.

Reliability Analysis of Flexure Hinge Based on Kriging Method

The uncertainty widely exists in the engineering practice.Therefore,it is necessary to research the effect of uncertainty on the structural system. In this paper,the reliability and sensitivity of the flexure hinge, which is the key component of the compliant mechanisms,are investigated. The results of the reliability analysis can effectively guide the engineer to design and optimize the flexure hinge. In order to improve the calculating efficiency,the kriging method is introduced to estimate the failure probability and reliability sensitivity.

A Hand Prosthesis with an Under-Actuated and Self-Adaptive Finger Mechanism

One of the major problems faced by hand amputees is the unavailability of a lightweight and powered multi-functional hand prosthesis. Under-actuated finger designs play a key role to make the hand prosthesis lightweight. In this paper, a hand prosthesis with an under-actuated and self-adaptive finger mechanism is proposed. The proposed finger is capable to generate passively different flexion/extension angles for a proximal interphalangeal (PIP) joint and a distal interphalangeal (DIP) joint for each flexion angle of metacarpophalangeal (MCP) joint. In addition, DIP joint is capable to generate different angles for the same angle of PIP joint. Hand prosthesis is built on the proposed finger mechanism. The hand prosthesis enables user to grasp objects with various geometries by performing five grasping patterns. Thumb of the hand prosthesis includes opposition/apposition in addition to flexion/extension of MCP and interphalangeal (IP) joint. Kinematic analysis of the proposed finger has been carried out to verify the movable range of the joints. Simulations and experiments are carried out to verify the effectiveness of the proposed finger mechanism and the hand prosthesis.

Design and Kinematics Analysis of a Parallel Mechanism to be Utilized as a Luggage Door by an Analogy to a Four – Bar Mechanism

In this study, a luggage door mechanism to be used in commercial vehicles such as midibuses and buses is designed and analyzed. The mechanism is designed as a parallel hinged system. Velocities, rotational veloci- ties and rotational accelerations of selected points on the design are calculated. Furthermore, the experiment- tal model of the design is established and it is seen that the data taken from the model are compatible with the calculated results. The aim of this study is to design a mechanism with the minimal workspace so that the door can be utilized in narrow areas and the ergonomics of the luggage door is improved. Considering both commercial and passenger vehicle sales, vehicle interior and exterior trim features have an exceptionally important role in automotive industry, in addition to vehicle performance characteristics. In today’s compete- tive environment, parts used in a vehicle’s internal and external trim have to meet user demands in terms of ergonomics as well as aesthetics. Due to its similarity to a four-bar mechanism, kinematics analysis of the design was carried out based on a four-bar mechanism, which is used extensively in industry.

The Analysis of Link Mechanism and Its Programming Realization

This paper introduces realization method of kinematics analysis for the planar four bar mechanism based on the MFC. A mathematicat model is established by a simple and effective method, using the computer simulation technology can the dynamic demonstration mechanism taotion and automatic drawing trajectory curve of arbitrary point on the connecting rod, and can output various motion displacement, speed and acceleration diagram. The paper provides a simple way for motion analysis of planar four link.

油莎豆联合收获机合页筛片式升运装置设计与试验

针对油莎豆机械化收获过程中升运振动装置除杂效果不明显,导致油莎豆与土壤杂质等分离不彻底,漏土率较低,伤果率较高的问题,以及在升运输送过程中存在土壤堵塞、回带等问题,结合油莎豆果-土-秧团聚体特性,设计了一种合页筛片式升运装置,通过筛片折弯部分增大筛孔面积,对团聚体提供与链筛运动方向相同的推力,使合页式升运装置提高漏土效率且有效避免了回带现象。对其倾角和固定位置进行了分析和设计,运用EDEM进行仿真试验,以油莎豆链筛线速度、链筛板折弯高度、链筛振动频率为试验因素,以油莎豆团聚体漏土率和伤果率为试验指标,通过三因素三水平正交仿真试验,最终得到输送筛片最佳结构参数组合为:链筛线速度1.151 m/s、折弯高度27.779 mm、振频9.561 Hz,此时升运装置漏土率为96.524%、伤果率为2.439%。田间验证试验结果表明:当链筛线速度为1.2 m/s、折弯高度为28 mm、振频为9.5 Hz时,合页式升运装置平均漏土率为96.05%,平均伤果率为2.38%,与仿真试验所测结果基本一致,满足油莎豆升运链筛工作要求。

蜂窝梁柱子结构抗连续性倒塌性能研究

目的研究蜂窝梁柱子结构的抗连续性倒塌性能,为工程应用提供设计依据。方法基于拆除构件法,应用ABAQUS有限元分析软件建立蜂窝梁柱子结构与实腹梁柱子结构模拟模型,研究在中柱失效作用下的结构性能,分析孔型、开孔率和首孔距离等参数对蜂窝梁柱子结构抗连续性倒塌性能的影响。结果蜂窝梁柱子结构相比于实腹梁柱子结构的峰值承载力增长64.26%,所对应的位移增长73.57%;蜂窝梁良好的成铰机制使悬链线效应发展更充分;孔型、开孔率、首孔距离对其破坏模式、峰值荷载、悬链线效应发展程度均具有一定影响。结论蜂窝梁柱子结构具有良好的抗连续性倒塌能力,孔型宜为圆形或六边形,开孔率宜取40%~60%,首孔距离宜取0.75~1.0倍梁截面高度。

基于柔性铰链结构的大口径压电快摆镜

为了解决压电作动器驱动的快速反射镜因压电作动器伸长量较小,导致快速反射镜偏转角过小的问题,该文提出了一款新型快速反射镜设计方案。采用三级杠杆式柔性铰链放大机构实现压电作动器位移的放大,采用柔性轴承作为快摆镜的运动关节实现快摆镜的大角度定轴偏转。通过理论推导和有限元仿真对快摆镜的最大偏转角度、等效应力、谐振频率以及振型进行分析。实验结果表明,所设计的快摆镜可以实现大于2 mrad的镜面偏转,满足大范围、高精度的光束定位要求。

一种杆长可调的多功能铰链四杆机构模型的设计

设计出一款多功能铰链四杆机构,可使不同机构类型在同一模型上实现。阐述了设计原理,完成了杆长调节机构、限位装置、杆长锁紧装置、机架、多功能连接装置、铅笔固定滑块机构的设计,通过数字化模型呈现其功能。

翻转启闭机构设计与优化研究

为了满足压力罐密闭门可靠开启、启闭角度足够大、自动开闭锁等要求,采用机构功能时序组合、空间多连杆连续耦合作动的设计思想,开发了一种可变回转点的空间多连杆快速作动翻转机构,构建了参数化机构动力学模型,以开启角度、启闭机构体积、最大驱动载荷为优化目标进行了机构铰点多目标优化,运用Max-min准则从多目标优化所得Pareto解集中选出了折中方案。通过动力学数值计算、缩比试验和产品试验验证了该设计和优化方法的可行性,为翻转启闭系统的机构设计提供了一定的参考。

运动副间隙对MCCB操作机构动力学特性的影响研究

针对MCCB操作机构的7个铰链点间隙对机构动力学特性的影响,基于正交试验设计法建立了18组仿真实验,通过极差分析得出了各间隙点对操作机构各指标的影响大小,采用带权重的分目标乘除法相结合的方式建立综合评价函数,对动触杆在位移、速度、加速度和下连杆的应力分析方面做了无间隙和有间隙的仿真对比分析。结果表明:仿真时忽略其运动副间隙的影响,所得各指标仿真值最大偏差达49.45%,平均偏差至少5%以上;对MCCB操作机构综合影响最大的间隙点为推拉杆与上连杆的连接轴间隙,理想铰链下的动力学仿真,位移变化、应力的分布及基本变化可供参考,而速度特性、加速度特性、最大应力值以及最大应力出现时刻则会偏离实际。

T形钢制耗能铰阻尼器抗震性能及力学模型研究

为了提高装配式框架结构的抗震性能,提出了不同类型的钢制耗能铰阻尼器,即将预制梁、柱用钢制铰进行连接,在铰的上、下或两侧安装软钢耗能元件。对几种耗能铰阻尼器的构造形式、抗震性能进行总结,选取一种构造简单、抗震性能较好的T形耗能铰阻尼器进行抗震性能和力学模型研究。采用ABAQUS软件对T形耗能铰阻尼器的试验进行数值模拟,在此基础上建立了24个有限元模型对T形耗能元件的翼缘削弱程度和T形截面尺寸进行参数分析,并对不同影响因素进行量化得到耗能铰阻尼器的骨架曲线计算公式,最后,对公式的正确性进行了验证。结果表明,该T形耗能铰阻尼器具有良好的承载力、延性和耗能能力,所提出的骨架曲线准确率较高,可为该类阻尼器的设计提供参考。

基于静力试验的柱端铰型受控摇摆钢筋混凝土框架地震响应数值分析

柱端铰型受控摇摆钢筋混凝土框架(CR-RCFC)是一种新型的可恢复功能结构,通过摇摆节点的构造来“弱化”结构整体抗侧刚度,从而达到减小地震响应的目的。CR-RCFC结构在振动台试验中呈现了在中震和大震作用下“主体构件免损伤,耗能构件易更换”的韧性抗震效果。振动台试验后进行低周反复静载试验得到拆除阻尼器后的CR-RCFC结构柱铰节点弯矩-转角滞回曲线和转动刚度等抗震性能参数。利用静力试验得到的结构抗震性能参数进行结构地震响应数值模拟,将数值模拟结果与振动台试验结果进行对比分析。对比分析结果表明:通过静力试验数据可以精确得到CR-RCFC结构节点抗震性能参数,根据该抗震性能参数进行的数值模拟结果与振动台试验结果吻合较好。