Constraint-force-based approach of modelling compliant mechanisms: principle and application

dc.check.infoAccess to this article is restricted until 24 months after publication by request of the publisher.en
dc.contributor.authorLi, Haiyang
dc.contributor.authorHao, Guangbo
dc.contributor.funderIrish Research Council for Science Engineering and Technologyen
dc.description.abstractNumerous works have been conducted on modelling basic compliant elements such as wire beams, and closed-form analytical models of most basic compliant elements have been well developed. However, the modelling of complex compliant mechanisms is still a challenging work. This paper proposes a constraint-force-based (CFB) modelling approach to model compliant mechanisms with a particular emphasis on modelling complex compliant mechanisms. The proposed CFB modelling approach can be regarded as an improved free-body- diagram (FBD) based modelling approach, and can be extended to a development of the screw-theory-based design approach. A compliant mechanism can be decomposed into rigid stages and compliant modules. A compliant module can offer elastic forces due to its deformation. Such elastic forces are regarded as variable constraint forces in the CFB modelling approach. Additionally, the CFB modelling approach defines external forces applied on a compliant mechanism as constant constraint forces. If a compliant mechanism is at static equilibrium, all the rigid stages are also at static equilibrium under the influence of the variable and constant constraint forces. Therefore, the constraint force equilibrium equations for all the rigid stages can be obtained, and the analytical model of the compliant mechanism can be derived based on the constraint force equilibrium equations. The CFB modelling approach can model a compliant mechanism linearly and nonlinearly, can obtain displacements of any points of the rigid stages, and allows external forces to be exerted on any positions of the rigid stages. Compared with the FBD based modelling approach, the CFB modelling approach does not need to identify the possible deformed configuration of a complex compliant mechanism to obtain the geometric compatibility conditions and the force equilibrium equations. Additionally, the mathematical expressions in the CFB approach have an easily understood physical meaning. Using the CFB modelling approach, the variable constraint forces of three compliant modules, a wire beam, a four-beam compliant module and an eight-beam compliant module, have been derived in this paper. Based on these variable constraint forces, the linear and non-linear models of a decoupled XYZ compliant parallel mechanism are derived, and verified by FEA simulations and experimental tests.en
dc.description.sponsorshipIrish Research Council for Science Engineering and Technology (RS/2012/361)en
dc.description.statusPeer revieweden
dc.description.versionAccepted Versionen
dc.identifier.citationLI, H. & HAO, G. 2016. Constraint-force-based approach of modelling compliant mechanisms: Principle and application. Precision Engineering. [In Press] doi: 10.1016/j.precisioneng.2016.08.001en
dc.identifier.journaltitlePrecision Engineeringen
dc.rights© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 licenseen
dc.subjectModel compliant mechanismsen
dc.subjectXYZ compliant parallel mechanismen
dc.subjectFEA simulationsen
dc.titleConstraint-force-based approach of modelling compliant mechanisms: principle and applicationen
dc.typeArticle (peer-reviewed)en
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