Contents
Cover
Title Page
Copyright
List of Contributors
Chapter Contributors
Managing Library Contributors
Library Contributors
Student Contributors
Acknowledgments
Preface
Part One: Introduction to Compliant Mechanisms
Chapter 1: Introduction to Compliant Mechanisms
1.1 What are Compliant Mechanisms?
1.2 What are the Advantages of Compliant Mechanisms?
1.3 What Challenges do Compliant Mechanisms Introduce?
1.4 Why are Compliant Mechanisms Becoming More Common?
1.5 What are the Fundamental Concepts that Help Us Understand Compliance?
1.6 Conclusion
References
Chapter 2: Using the Handbook to Design Devices
2.1 Handbook Outline
2.2 Considerations in Designing Compliant Mechanisms
2.3 Locating Ideas and Concepts in the Library
2.4 Modeling Compliant Mechanisms
2.5 Synthesizing Your Own Compliant Mechanisms
2.6 Summary of Design Approaches for Compliant Mechanisms
Further Reading
Part Two: Modeling of Compliant Mechanisms
Chapter 3: Analysis of Flexure Mechanisms in the Intermediate Displacement Range
3.1 Introduction
3.2 Modeling Geometric Nonlinearities in Beam Flexures
3.3 Beam Constraint Model
3.4 Case Study: Parallelogram Flexure Mechanism
3.5 Conclusions
Further Reading
Chapter 4: Modeling of Large Deflection Members
4.1 Introduction
4.2 Equations of Bending for Large Deflections
4.3 Solving the Nonlinear Equations of Bending
4.4 Examples
4.5 Conclusions
Further Reading
References
Chapter 5: Using Pseudo-Rigid Body Models
5.1 Introduction
5.2 Pseudo-Rigid-Body Models for Planar Beams
5.3 Using Pseudo-Rigid-Body Models: A Switch Mechanism Case-Study
5.4 Conclusions
Acknowledgments
References
Appendix: Pseudo-Rigid-Body Examples (by Larry L. Howell)
Part Three: Synthesis of Compliant Mechanisms
Chapter 6: Synthesis through Freedom and Constraint Topologies
6.1 Introduction
6.2 Fundamental Principles
6.3 FACT Synthesis Process and Case Studies
6.4 Current and Future Extensions of FACT's Capabilities
Acknowledgments
References
Chapter 7: Synthesis through Topology Optimization
7.1 What is Topology Optimization?
7.2 Topology Optimization of Compliant Mechanisms
7.3 Ground Structure Approach
7.4 Continuum Approach
7.5 Discussion
7.6 Optimization Solution Algorithms
Acknowledgment
References
Chapter 8: Synthesis through Rigid-Body Replacement
8.1 Definitions, Motivation, and Limitations
8.2 Procedures for Rigid-Body Replacement
8.3 Simple Bicycle Derailleur Example
References
Chapter 9: Synthesis through Use of Building Blocks
9.1 Introduction
9.2 General Building-Block Synthesis Approach
9.3 Fundamental Building Blocks
9.4 Elastokinematic Representations to Model Functional Behavior
9.5 Decomposition Methods and Design Examples
9.6 Conclusions
Further Reading
References
Part Four: Library of Compliant Mechanisms
Chapter 10: Library Organization
10.1 Introduction
10.2 Library of Compliant Designs
10.3 Conclusion
References
Chapter 11: Elements of Mechanisms
11.1 Flexible Elements
11.2 Rigid-Link Joints
References
Chapter 12: Mechanisms
12.1 Basic Mechanisms
12.2 Kinematics
12.3 Kinetics
References
Chapter 13: Example Application
13.1 Elements of Mechanisms: Flexible Elements
13.2 Mechanisms: Kinematic
13.3 Mechanisms: Kinetic
References
Index
This edition first published 2013
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Library of Congress Cataloging-in-Publication Data
Handbook of compliant mechanisms / edited by Professor Larry Howell, Dr. Spencer P. Magleby, Dr. Brian M. Olsen.
pages cm
Includes bibliographical references and index.
ISBN 978-1-119-95345-6 (cloth)
1. Mechanical movements. 2. Machinery, Kinematics of. 3. Engineering design. I. Howell, Larry L., editor. II. Magleby, Spencer P., editor. III. Olsen, Brian M. (Brian Mark), 1983– editor.
TJ181.H25 2013
621.8–dc23
2012037077
List of Contributors
Chapter Contributors
Shorya Awtar – Assistant Professor, University of Michigan, Ann Arbor, MI, USA
Mary Frecker – Professor, The Pennsylvania State University, University Park, PA, USA
Jonathan Hopkins – Assistant Professor, University of California, Los Angeles, CA, USA
Larry Howell – Professor, Brigham Young University, Provo, UT, USA
Brian Jensen – Associate Professor, Brigham Young University, Provo, UT, USA
Charles Kim – Assistant Professor, Bucknell University, Lewisburg, PA, USA
Girish Krishnan – Post-Doctoral Associate, University of Michigan, Ann Arbor, MI, USA
Craig Lusk – Associate Professor, University of South Florida, Tampa, FL, USA
Spencer Magleby – Associate Dean, Brigham Young University, Provo, UT, USA
Chris Mattson – Associate Professor, Brigham Young University, Provo, UT, USA
Brian Olsen – Research Engineer, Los Alamos National Lab, Los Alamos, NM, USA
Managing Library Contributors
G. K. Ananthasuresh – Indian Institute of Science, Bangalore, Bangalore, India
Guimin Chen – Xidian University, Xi'an, P.R. China
Martin Culpepper – Massachusetts Institute of Technology, Cambridge, MA, USA
Mohammad Dado – University of Jordan, Amman, Jordan
Haijun Su – Ohio State University, Columbus, OH, USA
Simon Henein – CSEM Centre Suisse d'Electronique et de Microtechnique SA, Neuchâtel, Switzerland
Just L. Herder – Delft University of Technology, Delft, The Netherlands
Jonathan B. Hopkins – University of California, Los Angeles, CA USA
Nilesh D. Mankame – General Motors Research & Development, Warren, MI, USA
Ashok Midha – Missouri University of Science and Technology, Rolla, MO, USA
Anupam Saxena – Indian Institute of Technology, Kanpur, Kanpur, India
Umit Sonmez – American University of Sharjah, Sharjah, UAE
Jingjun Yu – Beihang University, Beijing, China
Library Contributors
Imad F. Bazzi – General Motors Research & Development, Warren, MI, USA
Shusheng Bi – Beihang University, Beijing, China
Ozgur Erdener – Istanbul Technical University, Istanbul, Turkey
Bilin Aksun Güvenç – Okan University, Istanbul, Turkey
Huseyin Kızıl – Istanbul Technical University, Istanbul, Turkey
Xu Pei – Beihang University, Beijing, China
Ahmet Ekrem Sarı – Altinay Robot Technologies, Istanbul, Turkey
Nima Tolou – Delft University of Technology, Delft, The Netherlands
Levent Trabzon – Istanbul Technical University, Istanbul, Turkey
Cem Celal Tutum – Technical University of Denmark, Lyngby, Denmark
Hongzhe Zhao – Beihang University, Beijing, China
Guanghua Zong – Beihang University, Beijing, China
Yörükoğlu, Ahmet – R&D Engineer at Arcelik
Student Contributors
Bapat, Sushrut – Missouri University of Science and Technology
Barg, Matt – Brigham Young University
Berg, Fred van den – Delft University of Technology
Black, Justin – Brigham Young University
Bowen, Landen – Brigham Young University
Bradshaw, Rachel – Brigham Young University
Campbell, Robert – Brigham Young University
Chinta, Vivekananda – Missouri University of Science and Technology
Dario, P. – Scuola Superiore Sant'Anna
Davis, Mark – Brigham Young University
Demirel, Burak – KTH Royal Institute of Technology
Duffield, Luke – Brigham Young University
Dunning, A.G. – Delft University of Technology
Emirler, Mümin Tolga – Istanbul Technical University
Foth, Morgan – Brigham Young University
George, Ryan – Brigham Young University
Güldoğan, Bekir Berk – Istanbul Technical University
Greenberg, Holly – Brigham Young University
Hardy, Garrett – Brigham Young University
Harris, Jeff – Brigham Young University
Howard, Marcel J. – Delft University of Technology
Ivey, Brad – Brigham Young University
Jones, Andrea – Brigham Young University
Jones, Kris – Brigham Young University
Kluit, Lodewijk – Delft University of Technology
Koecher, Michael – Brigham Young University
Koli, Ashish – Missouri University of Science and Technology
Kosa, Ergin – Istanbul Technical University
Kragten, Gert A. – Delft University of Technology
Kuber, Raghvendra – Missouri University of Science and Technology
Lassooij, Jos – Delft University of Technology
McCort, Ashby – Brigham Young University
Morsch, Femke – Delft University of Technology
Morrise, Jacob – Brigham Young University
Pate, Jenny – Brigham Young University
Peterson, Danielle Margaret – Brigham Young University
Ratlamwala, Tahir Abdul Husain – University of Ontario Institute of Technology
Reece, David – Brigham Young University
Samuels, Marina – Brigham Young University
Sanders, Michael – Brigham Young University
Shafiq, Mohammed Taha – American University of Sharjah
Shelley, Dan – Brigham Young University
Shurtz, Tim – Brigham Young University
Simi, Massimiliano – Scuola Superiore Sant'Anna
Skousen, Darrell – Brigham Young University
Solomon, Brad – Brigham Young University
Steutel, Peter – Delft University of Technology
Stubbs, Kevin – Brigham Young University
Tanner, Daniel – Brigham Young University
Tekeş, Ayşe – Istanbul Technical University
Telford, Cody – Brigham Young University
Toone, Nathan – Brigham Young University
Wasley, Nick – Brigham Young University
Wengel, Curt – Brigham Young University
Wilding, Sam – Brigham Young University
Williams, David – Brigham Young University
Wright, Doug – Brigham Young University
Yu, Zhiwei – Beihang University
Zhao, Shanshan – Beihang University
Zirbel, Shannon – Brigham Young University
Acknowledgments
The Handbook of Compliant Mechanisms is a result of work by contributors from around the world. Compliant mechanisms experts have authored the chapters in Parts II and III, and many more have contributed entries to the Library of Compliant Mechanisms (Part IV of the Handbook). The contributions of these individuals are gratefully acknowledged.
We express appreciation to Brian Winder and Jonathan Hopkins for their work on early drafts of the Library of Compliant Mechanisms. The graphic design assistance of Jung-Ah Ahn (Jade) and Stephen Jensen are acknowledged, as is the administrative assistance of Danielle Peterson. The format of the Library of Compliant Mechanisms was inspired by Ivan I. Artobolevskii's seven-volume work Mechanisms in Modern Engineering Design: A Handbook for Engineers, Designers, and Inventors. We also wish to honor the memory of Dr. Umit Sonmez, who passed away unexpectedly during the time that he was contributing to the Handbook.
Preface
Compliant mechanisms are seeing expanded use because they offer advantages such as increased performance (e.g. high precision, low weight, low friction), lower cost (e.g. simplified manufacture, low part count), and ability to miniaturize (e.g. makes possible micro- and nanomechanical devices). However, because compliant mechanisms are relatively new compared to more traditional devices, it is difficult for designers to find examples and resources to guide them in their work. Many people are beginning to understand the advantages of compliant mechanisms but there is still a general lack of knowledge of how to implement them. Although many journal articles and some texts are available to aid in the in-depth engineering of compliant mechanisms, a more concise and visual resource is needed to provide inspiration and guidance in the conceptual stages of compliant mechanism design.
The Handbook of Compliant Mechanisms is intended to provide a summary of compliant mechanism modeling and design methods and a broad compilation of compliant mechanisms that will provide inspiration and guidance to those interested in exploiting the advantages of compliant mechanisms in their designs. Early Handbook chapters provide basic background in compliant mechanisms, summaries of some of the major methods for designing compliant mechanisms, categories of compliant mechanisms, and an example of how the Handbook can be used to facilitate compliant mechanism design. Graphics and brief descriptions of many compliant mechanisms are provided to give inspiration in preliminary design.
The Handbook of Compliant Mechanisms is designed to be a resource for engineers, designers, and others involved in product design. We hope that it is found to be useful by many in the development of compliant mechanisms.
The Handbook is divided into the following Parts:
We wish to express our sincere thanks to all the contributors that worked to make this handbook possible. We hope that it is found to be useful in creating new compliant mechanism designs.
This material is based upon work supported by the National Science Foundation under Grant No. CMMI-0800606. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation.
Brian M Olsen is an employee of Los Alamos National Security, LLC, the operator of Los Alamos National Laboratory for the US Department of Energy. The views expressed in this book are solely those of Brian and the other authors and do not necessarily reflect the views, positions and opinions of the US Department of Energy or the US Government.
Larry L. Howell
Brigham Young University, USA
Spencer P. Magleby
Brigham Young University, USA
Brian M. Olsen
Los Alamos National Laboratory, USA
November 2012
Part One
Introduction to Compliant Mechanisms