Title: Topology and kinematic performance analysis of Hoeken straight-line COPMM for micro-operation

Authors: Xilun Ding; Yi Yang; Shengnan Lv; Jiansheng Dai

Addresses: Robitics Institute, Beihang University, Beijing, 100083, China. ' Robitics Institute, Beihang University, Beijing, 100083, China. ' Robitics Institute, Beihang University, Beijing, 100083, China. ' School of Mechanical Engineering, King's College London, University of London, London, WCR2LS, UK

Abstract: Hoeken straight-line compliant ortho-planar metamorphic mechanisms (COPMM) which was manufactured on a plane and erected through the metamorphic process is one of typical compliant metamorphic mechanisms. In this paper, the change of topology of COPMM from planar configuration to erected configuration is studied with adjacence matrix method. Kinematics and dynamics model of this mechanism using the pseudo-rigid-body model is developed. The problem of initial equilibrium position is investigated when the mechanism is erected and the finite element method for kinematic analysis of this kind of mechanisms is used. At last simulation is generated. The result shows that the method proposed is adaptable to this kind of mechanisms and can be applied to the other COPMM for micro-operation.

Keywords: compliant metamorphic mechanisms; COPMM; straight lines; pseudo-rigid-body; micromechanisms; equilibrium position; nanomanufacturing; kinematic analysis; kinematics; dynamic modelling; finite element method; FEM; simulation; topology.

DOI: 10.1504/IJNM.2011.043695

International Journal of Nanomanufacturing, 2011 Vol.7 No.5/6, pp.544 - 558

Received: 09 Nov 2010
Accepted: 07 May 2011
Published online: 07 Mar 2015 *

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