A novel method is proposed in this paper to address the cutting-edge problem of topology optimization of distributed compliant mechanisms, which requires the design to possess both large output displacements and evenly distributed compliance simultaneously. The design is represented by a level-set model that precisely specifies the distinct material regions and their sharp interfaces as well as...

We present an approach for operating unknown one-degree-of-freedom (DoF) mechanisms, using a compliant robot. The key aspect of our approach is that we make only little assumptions about the operated mechanism in terms of imposed kinematic constraints on the end-effector as well as dynamic properties, which can not always be neglected. The proposed system consists of: i) a constraint estimator ...

The consideration of compliant mechanisms as Microelectromechanical Systems (MEMS) is the focus of this research endeavor. MEMS are micron to millimeter devices that combine electrical, mechanical, and information processing capabilities on the same device. These MEMS need some mechanical motion or parts that move relative to each other. This relative motion, using multiple parts, is not desire...

Compliant bridge mechanisms are frequently utilized to scale micrometer order motions of piezoelectric actuators to levels suitable for desired applications. Analytical equations have previously been specifically developed for two configurations of bridge mechanisms: parallel and rhombic type. Based on elastic beam theory, a kinematic analysis of compliant bridge mechanisms in general configura...

This paper presents a robust density-based topology optimization approach for synthesizing pressure-actuated compliant mechanisms. To ensure functionality under manufacturing inaccuracies, the or three-field formulation is employed, involving dilated, intermediate and eroded realizations of design. Darcy's law in conjunction with conceptualized drainage term used to model pressure load as funct...

Abstract Compliant mechanisms (CMs) have presented its inherently advantageous properties due to the fact that CMs utilize elastic deformation of elementary flexible members transfer motion, force, and energy. Previously, classic Euler–Bernoulli beam theory is most used in terms modeling large deflections CMs. However, it has some assumptions may decrease accuracy, such as ignoring shear strain...

A method to improve the energy efficiency of a bipedal robot by coupling its thighs with compliant smart mechanisms is introduced. The walking gaits are driven electric motors in revolute joints, whose reference trajectories generated via numerical optimization. optimized nonlinear characteristic mechanism modifies free oscillation frequency system that matches current double step even under di...