Nonlinear analytical modeling and characteristic analysis of symmetrical wire beam based composite compliant parallel modules for planar motion

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dc.contributor.author Hao, Guangbo
dc.contributor.author Kong, Xianwen
dc.date.accessioned 2014-04-15T13:24:31Z
dc.date.available 2014-04-15T13:24:31Z
dc.date.issued 2014-07
dc.identifier.citation Guangbo Hao, Xianwen Kong (2014) 'Nonlinear analytical modeling and characteristic analysis of symmetrical wire beam based composite compliant parallel modules for planar motion'. Mechanism and Machine Theory, 77 :122-147. doi: 10.1016/j.mechmachtheory.2014.02.012 en
dc.identifier.volume 77 en
dc.identifier.startpage 122 en
dc.identifier.endpage 147 en
dc.identifier.issn 0094-114X
dc.identifier.uri http://hdl.handle.net/10468/1526
dc.identifier.doi 10.1016/j.mechmachtheory.2014.02.012
dc.description.abstract This paper mainly deals with the nonlinear analytical modeling and characteristics analysis of two types of composite multi-beam modules for planar motion to enable rapid analysis and design synthesis. Each type of composite multi-beam module consists of identical, uniform and parallel wire beams, distributing uniformly along circle(s), with symmetrical cross sections. Analytical models of basic multi-beam modules with all beams uniformly spaced around a circle are firstly revisited. Analytical and nonlinear load-displacement equations are derived for the composite multi-beam modules, each of which is composed of two basic multi-beam modules with the same type connected either serially or in parallel. Finite element analysis (FEA) is carried out to compare and verify the present analytical models. Detailed characteristics analysis and comparisons are conducted to compare three types of compliant six-beam modules whose twisting rotations are well constrained. These analytical results are capable of capturing some key quantitative nonlinear characteristics, such as kinematic effects, load-stiffening effect and nonlinear twisting stiffness, and can promote the design and analytical modeling of resulting compliant parallel manipulators composed of compliant multi-beam modules. In addition, the nonlinear analytical models of other variations of parallel double multi-beam modules are derived. en
dc.description.sponsorship University College Cork (UCC 2013 Strategic Research Fund) en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Elsevier en
dc.relation.uri http://www.sciencedirect.com/science/article/pii/S0094114X14000500
dc.rights Copyright © 2014 Elsevier Ltd. All rights reserved. NOTICE: this is the author’s version of a work that was accepted for publication in Mechanism and Machine Theory. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Mechanism and Machine Theory, [Volume 77, July 2014, Pages 122–147] DOI http://dx.doi.org/10.1016/j.mechmachtheory.2014.02.012 en
dc.subject Compliant mechanisms en
dc.subject Composite modules en
dc.subject Symmetrical wire beams en
dc.subject Planar motion en
dc.subject Analytical modeling en
dc.subject Characteristic analysis en
dc.title Nonlinear analytical modeling and characteristic analysis of symmetrical wire beam based composite compliant parallel modules for planar motion en
dc.type Article (peer-reviewed) en
dc.internal.authorcontactother Guangbo Hao, Electrical & Electronic Engineering, University College Cork, Cork, Ireland. +353-21-490-3000 Email: g.hao@ucc.ie en
dc.internal.availability Full text available en
dc.date.updated 2014-04-03T22:54:43Z
dc.description.version Accepted Version en
dc.internal.rssid 241507324
dc.description.status Peer reviewed en
dc.identifier.journaltitle Mechanism and Machine Theory en
dc.internal.copyrightchecked No en
dc.internal.licenseacceptance Yes en
dc.internal.IRISemailaddress g.hao@ucc.ie en


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