Design and Control of Path-following Compliant Mechanisms
نویسندگان
چکیده
A control algorithm to manipulate the input actuation forces on hinge-free compliant mechanism models synthesized utilizing continuum topology optimization formulations is implemented and successfully tested in this work, such that the mechanisms follow their specified trajectories and nearby trajectories with high degree of accuracy even when confronted with different resistance forces. The validity of the proposed formulations is tested and demonstrated on number of practical problems involving finite deformation.
منابع مشابه
Large Deflection Analysis of Compliant Beams of Variable Thickness and Non-Homogenous Material under Combined Load and Multiple Boundary Conditions
This paper studies a new approach to analyze the large deflection behavior of prismatic and non-prismatic beams of non-homogenous material under combined load and multiple boundary conditions. The mathematical formulation has been derived which led to a set of six first-order ordinary differential equations. The geometric nonlinearity was solved numerically using the multiple shooting method co...
متن کاملCurvature Based Point Stabilization and Path following for Compliant Framed Wheeled Modular Mobile Robots
The compliant framed modular mobile robot is a new type of wheeled mobile robot for which the motion control problems of posture stabilization, path following, and trajectory tracking are studied. This robot has the advantages of a simple modular design that provides full suspension and steering capability without any additional components. Due to the flexible nature of the robot, the kinematic...
متن کاملSynthesis of Shape Morphing Compliant Mechanisms Using a Load Path Representation Method
The performance of many mechanical systems is directly related to the geometric shapes of their components, such as aircraft wings and antenna reflectors. While the shapes of these components are mostly fixed, incorporating shape morphing into these systems can increase the flexibility and enhance the performance. A synthesis approach for shape morphing compliant mechanism is presented in this ...
متن کاملTopology and Dimensional Synthesis of Compliant Mechanisms Using Discrete Optimization
A unified approach to topology and dimensional synthesis of compliant mechanisms is presented in this paper as a discrete optimization problem employing both discrete (topology) and continuous (size) variables. The synthesis scheme features a design parameterization method that treats load paths as discrete design variables to represent various topologies, thereby ensuring structural connectivi...
متن کاملDesign of an Intelligent Controller for Station Keeping, Attitude Control, and Path Tracking of a Quadrotor Using Recursive Neural Networks
During recent years there has been growing interest in unmanned aerial vehicles (UAVs). Moreover, the necessity to control and navigate these vehicles has attracted much attention from researchers in this field. This is mostly due to the fact that the interactions between turbulent airflows apply complex aerodynamic forces to the system. Since the dynamics of a quadrotor are non-linear and the ...
متن کامل