A nonlinear analysis of spatial compliant parallel modules: Multi-beam modules

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Hao, Guangbo
Kong, Xianwen
Reuban, Robert L.
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This paper presents normalized, nonlinear and analytical models of spatial compliant parallel modules: multi-beam modules with a large range of motion. The models address the nonlinearity of load-equilibrium equations, applied in the deformed configuration, under small deflection hypothesis. First, spatial nonlinear load-displacement equations of the tip of a beam, conditions of geometry compatibility and load-equilibrium conditions for a spatial three-beam module are derived. The nonlinear and analytical load-displacement equations for the three-beam module are then solved using three methods: approximate analytical method, improved analytical method and numerical method. The nonlinear-analytical solutions, linear solutions and large-deflection FEA solutions are further analyzed and compared. FEA verifies that the accuracy of the proposed nonlinear-analytical model is acceptable. Moreover, a class of multi-beam modules with four or more beams is proposed, and their general nonlinear load displacement equations are obtained based on the approximate load-displacement equations of the three-beam module. The proposed multi-beam modules and their nonlinear models have potential applications in the compliant mechanism design. Especially, the multi-beam modules can be regarded as building blocks of novel compliant parallel mechanisms.
Nonlinear analysis , Compliant mechanisms , Spatial modules
Hao, G., Kong, X. & Reuban, R. L. (2011). 'A nonlinear analysis of spatial compliant parallel modules: Multi-beam modules.' Mechanism and Machine Theory, 46, 680-706. doi: 10.1016/j.mechmachtheory.2010.12.007
Copyright © 2010, 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, [46, August 2010] http://dx.doi.org/10.1016/j.mechmachtheory.2010.12.007