Compliant shell mechanisms utilize spatially curved thin-walled structures to transfer or transmit force, motion, or energy through elastic deformation. To design spatial mechanisms, designers need comprehensive nonlinear characterization methods, while the existing methods fall short of meaningful comparisons between rotational and translational degrees-of-freedom. This paper presents two approaches, both of which are based on the principle of virtual loads and potential energy, utilizing properties of screw theory, Plücker coordinates, and an eigen-decomposition. This leads to two unification lengths that can be used to compare and visualize all six degrees-of-freedom directions and magnitudes in a nonarbitrary, physically meaningful manner for mechanisms exhibiting geometrically nonlinear behavior.
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February 2019
Research-Article
Unified Stiffness Characterization of Nonlinear Compliant Shell Mechanisms
Joost R. Leemans,
Joost R. Leemans
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: J.R.Leemans@student.tudelft.nl
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: J.R.Leemans@student.tudelft.nl
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Charles J. Kim,
Charles J. Kim
Department of Mechanical Engineering,
Bucknell University,
Lewisburg, PA 17837
e-mail: charles.kim@bucknell.edu
Bucknell University,
Lewisburg, PA 17837
e-mail: charles.kim@bucknell.edu
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Werner W .P. J. van de Sande,
Werner W .P. J. van de Sande
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: w.w.p.j.vandeSande@tudelft.nl
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: w.w.p.j.vandeSande@tudelft.nl
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Just L. Herder
Just L. Herder
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: J.L.Herder@tudelft.nl
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: J.L.Herder@tudelft.nl
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Joost R. Leemans
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: J.R.Leemans@student.tudelft.nl
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: J.R.Leemans@student.tudelft.nl
Charles J. Kim
Department of Mechanical Engineering,
Bucknell University,
Lewisburg, PA 17837
e-mail: charles.kim@bucknell.edu
Bucknell University,
Lewisburg, PA 17837
e-mail: charles.kim@bucknell.edu
Werner W .P. J. van de Sande
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: w.w.p.j.vandeSande@tudelft.nl
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: w.w.p.j.vandeSande@tudelft.nl
Just L. Herder
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: J.L.Herder@tudelft.nl
Microsystems Engineering,
Delft University of Technology,
Delft 2628 CD, The Netherlands
e-mail: J.L.Herder@tudelft.nl
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received February 5, 2018; final manuscript received October 8, 2018; published online December 10, 2018. Assoc. Editor: Hai-Jun Su.
J. Mechanisms Robotics. Feb 2019, 11(1): 011011 (11 pages)
Published Online: December 10, 2018
Article history
Received:
February 5, 2018
Revised:
October 8, 2018
Citation
Leemans, J. R., Kim, C. J., van de Sande, W. W. .. J., and Herder, J. L. (December 10, 2018). "Unified Stiffness Characterization of Nonlinear Compliant Shell Mechanisms." ASME. J. Mechanisms Robotics. February 2019; 11(1): 011011. https://doi.org/10.1115/1.4041785
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