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Research on method of multiple steady states of compliant mechanism

Author: PangJingLei
Tutor: HeGuangPing
School: North China University of
Course: Mechanical and Electronic Engineering
Keywords: complaint mechanism multistable equilibrium mechanisms synthesismethodology
CLC: TH112
Type: Master's thesis
Year: 2012
Downloads: 118
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With the development of the science and technology, the traditional rigid institutions can not satisfy people’s needs, more and more scholars began to analyse and research compliant mechanisms. Multistable compliant mechanisms is the mechanisms with multiple different statics balance positions. Because multistable compliant mechanisms can get movements and stable configurations at the same time, they are value to the design of robot mechanisms, for example in the bionic institutions (snake robots) and medical equipments. The majority of prior research is limited to the design of specific types of bistable mechanisms. However, there is not a systematic method to design multistable compliant mechanisms. This dissertation explores the design methods and applications of compliant mechanisms that exhibit multistability.First, bistable and multistable behaviors of planar5R compliant parallel mechanisms were investigated based on the change of elastic energy. The planar5R mechanism with one, two and three compliant joints was analyzed. The results show that it has no bistable or multistable behavior when the actuated joints are the only compliant components, whereas, the bistable or multistable characteristic may be shown when the joints are compliant except the actuated ones, and the necessary conditions are deduced for the sake of synthesis the multistable behavior of the planar5R mechanism. A bistable complaint mechanism is designed to show some aspects of the results, and an example is given.Next, analysis the multistable characteristics in the situation where5R mechanism contains two compliant joins. The symmetry angles can be deduced based on the geometric relationship between the potential energy and graphics by simplifying the5R compliant mechanism to pseudo-rigid-body model. Also, the multistable equilibrium can be solved by utilizing the symmetrical characteristic of the graphs. After justified that one of the two join is designed to drive, the5R compliant mechanism can be found by identifying the stabilized position which can be confirmed by symmetry angles or symmetry geogetric type of position. The analysis result of5R compliant mechanism can be applied to the multistable equilibrium of general planar compliant mechanism.Finally, using the method of geometric superposition, we analyse single degree of freedom mechanisms and more freedom compliant mechanisms. Through the geometric superposition, we can find different slopes different results. Through the analysis of the planar5R compliant parallel mechanisms, we can find that active joints and passive joints of compliant mechanism will influence the steadies of the mechanisms. Then, synthesis of multistable mechanisms by combining bistable mechanisms.

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CLC: > Industrial Technology > Machinery and Instrument Industry > Mechanics (mechanical design of the basic theory ) > Of mechanism
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