A normalization-based approach to the mobility analysis of spatial compliant multi-beam modules

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dc.contributor.author Hao, Guangbo
dc.contributor.author Kong, Xianwen
dc.date.accessioned 2012-10-10T09:16:55Z
dc.date.available 2012-10-10T09:16:55Z
dc.date.issued 2013-01
dc.identifier.citation Hao, G. & Kong, X. (2013). 'A normalization-based approach to the mobility analysis of spatial compliant multi-beam modules.' Mechanism and Machine Theory, 59, 1-19. doi: 10.1016/j.mechmachtheory.2012.08.013 en
dc.identifier.volume 59 en
dc.identifier.issued 1 en
dc.identifier.startpage 1 en
dc.identifier.endpage 19 en
dc.identifier.uri http://hdl.handle.net/10468/719
dc.identifier.doi 10.1016/j.mechmachtheory.2012.08.013
dc.description.abstract This paper presents a normalization-based approach to the mobility analysis of spatial compliant multi-beam modules to address the dimensional-inhomogeneity issue of motion/load. Firstly, two spatial non-tilted and tilted multi-beam modules, composed of uniform beams with symmetrical cross sections and same length, are proposed. Using a normalization technique, the compliance matrices of these spatial multi-beam modules are derived, from which the DOF (degrees-of-freedom) of the compliant modules can be obtained by direct observation and/or screw representation. The results are compared with those obtained without normalization. It is shown that the DOF of these compliant modules can be identified more easily using the proposed approach than the approach without normalization. Then, two spatial double non-tilted and tilted three-beam modules are proposed and analyzed for potential applications such as acting as building blocks of new compliant manipulators. The normalization-based approach can also be used for the mobility analysis of spatial compliant multi-sheet modules such as the parallelogram module and the four-sheet rotational module and the error analysis of spatial multi-beam modules with beams of compatible length. 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/S0094114X12001759
dc.rights Copyright © 2012, Elsevier. 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, [59, January 2013] http://dx.doi.org/10.1016/j.mechmachtheory.2012.08.013 en
dc.subject Compliant mechanisms en
dc.subject Spacial modules en
dc.subject Mobility analysis en
dc.subject Normalisation en
dc.title A normalization-based approach to the mobility analysis of spatial compliant multi-beam modules en
dc.type Article (peer-reviewed) en
dc.internal.authorurl http://publish.ucc.ie/researchprofiles/D013/ghao 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 2012-10-02T09:59:47Z
dc.description.version Accepted Version en
dc.internal.rssid 161553821
dc.description.status Peer reviewed en
dc.identifier.journaltitle Mechanism and Machine Theory en
dc.internal.copyrightchecked No I have submitted the accepted version rather than published version. en
dc.internal.licenseacceptance Yes en
dc.internal.IRISemailaddress g.hao@ucc.ie en

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