A compliant-mechanism-based lockable prismatic joint for high-load morphing structures
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Published Version
Date
2022-09-12
Authors
Zhao, Yinjun
Hao, Guangbo
Chai, Luguang
Tian, Yingzhong
Xi, Fengfeng
Journal Title
Journal ISSN
Volume Title
Publisher
Elsevier Ltd.
Published Version
Abstract
Lockable joints are widely used in robotic systems and adaptive structures for energy management and/or topology reconfiguration. However, it is still challenging to design a joint with desired properties, including high locking load, infinite locking positions, short switching time, energy-efficient control, and a compact and lightweight structure. This paper aims at this open problem by presenting a novel piezoelectric (PZT) actuated lockable prismatic joint. This joint is a compliant mechanism (CM) consisting of a compound bridge-type compliant mechanism (CBCM) and a pair of compound multibeam parallelogram mechanisms (CMPMs). It can produce the required input/output stiffness to transmit large forces for high-load locking. It can also provide a desired input/output motion range for PZT actuation-based unlocking and for facilitating preloading adjustment. An analytical model is presented based on a compliance matrix method and the nonlinear model of the CMPM to predict the joint's static characteristics under various input/output conditions. A two-step optimization framework is proposed for locking applications. The theoretical study and nonlinear FEA/experimental verification confirm the feasibility of the design and the accuracy of the proposed model.
Description
Keywords
Compliant mechanisms , Lockable joints , Morphing structures , Parametric optimization , PZT actuation , Static modeling
Citation
Zhao, Y., Hao, G., Chai, L., Tian, Y. and Xi, F. (2022) 'A compliant-mechanism-based lockable prismatic joint for high-load morphing structures', Mechanism and Machine Theory, 178, 105083 (25pp). doi: 10.1016/j.mechmachtheory.2022.105083