Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Time-Optimal Path Planning Along Specified Trajectories Read chapter Read first chapter

2013 | OriginalPaper | Chapter

3. Constraint and Dynamic Analysis of Compliant Mechanisms with a Flexible Multibody Modelling Approach

Author : R. G. K. M. Aarts

Published in: Multibody System Dynamics, Robotics and Control

Publisher: Springer Vienna

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

The models used in the conceptual phase of the mechatronic design should not be too complicated, yet they should capture the dominant system behaviour. Firstly, the awareness and possibly the avoidance of an overconstrained condition is important. Secondly, the models should reveal the system’s natural frequencies and mode shapes in a relevant frequency range. For the control system synthesis the low frequent behaviour up to the cross-over frequency needs to be known. Furthermore, the closed-loop system can be unstable due to parasitic modes at somewhat higher frequencies.
In this chapter the applicability of a multibody modelling approach based on non-linear finite elements is demonstrated for the mechatronic design of a compliant six DOF manipulator. A kinematic analysis is applied to investigate the exact constrained design of the system. From dynamic models the natural frequencies and mode shapes are predicted and a state-space model is derived that describes the system’s input-output relations. The models have been verified with experimental identification and closed-loop motion experiments. The predicted lowest natural frequencies and closed-loop performance agree sufficiently well with the experimental data.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now
previous chapter Efficient Online Computation of Smooth Trajectories Along Geometric Paths for Robotic Manipulators
next chapter Sensor Data Fusion for the Localization and Position Control of One Kind of Omnidirectional Mobile Robots
Literature
1.
Blanding DL (1999) Exact constraint: machine design using kinematic principles. ASME Press, New York
2.
Hale LC (1999) Principles and techniques for designing precision machines. Ph.D. thesis, University of California, Livermore
3.
Soemers HMJR (2010) Design principles for precision mechanisms. T-point print, Enschede
4.
van Dijk J, Aarts RGKM, Jonker JB (2012) Analytical one parameter method for PID motion controller settings. In: IFAC conference on advances in PID control – PID’12, Brescia, 28–30 Mar 2012
5.
Xu JX (2008) New lead compensator designs for control education and engineering. In: Proceedings of 27th Chinese control conference, 16–18 July 2008
6.
Aarts RGKM, van Dijk J, Jonker JB (2009). Efficient analyses for the mechatronic design of mechanisms with flexible joints undergoing large deformations. In: ECCOMAS thematic conference multibody dynamics 2009, Warsaw University of Technology, Warsaw, June 29–July 2
7.
Aarts RGKM, van Dijk J, Jonker JB (2010) Flexible multibody modelling for the mechatronic design of compliant mechanisms. In: The 1st joint international conference on multibody system dynamics, Lappeenranta, 25–27 May 2010
8.
Aarts RGKM, van Dijk J, Brouwer DM, Jonker JB (2011) Application of flexible multibody modelling for control synthesis in mechatronics. In: Multibody dynamics 2011, ECCOMAS thematic conference, Brussels, 4–7 July 2011
9.
Aarts RGKM, Boer SE, Meijaard JP, Brouwer DM, Jonker JB (2011) Analyzing overconstrained design of compliant mechanisms. In: Proceedings of ASME 2011 international design engineering technical conference & computers and information in engineering conference – IDETC/CIE 2011, Washington, DC, 28–31 Aug 2011
10.
Jonker JB, Meijaard JP (2009) Definition of deformation parameters for the beam element and their use in flexible multibody system analysis. In: ECCOMAS thematic conference multibody dynamics 2009, Warsaw University of Technology, Warsaw, June 29–July 2
11.
Jonker JB, Aarts RGKM, van Dijk J (2009) A linearized input-output representation of flexible multibody systems for control synthesis. Multibody Syst Dyn 21(2):99–122MathSciNetMATHCrossRef
12.
Brouwer DM, de Jong BR, Soemers HMJR (2010) Design and modeling of a six DOF’s MEMS-based precision manipulator. Precis Eng 34(2):307–319CrossRef
13.
Meijaard JP, Brouwer DM, Jonker JB (2010) Analytical and experimental investigation of a parallel leaf spring guidance. Multibody Syst Dyn 23(1):77–97MATHCrossRef
14.
Boer SE, Aarts RGKM, Brouwer DM, Jonker JB (2010) Multibody modelling and optimization of a curved hinge flexure. In: The 1st joint international conference on multibody system dynamics, Lappeenranta, 25–27 May 2010
15.
Spijksma SA (2010) Analysis and MIMO control of a 6 DOFs parallel kinematic precision manipulator. M.Sc. thesis, Report number Wa-1293, University of Twente, Enschede
16.
Nijsse G (2006) A subspace based approach to the design, implementation and validation of algorithms for active vibration isolation control. PhD thesis, University of Twente, Enschede
17.
van Overschee P, de Moor B (1994) N4SID: subspace algorithms for the identification of combined deterministic-stochastic systems. Automatica 30(1):75–93MathSciNetMATHCrossRef
Metadata
Title
Constraint and Dynamic Analysis of Compliant Mechanisms with a Flexible Multibody Modelling Approach
Author
R. G. K. M. Aarts
Copyright Year
2013
Publisher
Springer Vienna
Book
Multibody System Dynamics, Robotics and Control

Print ISBN: 978-3-7091-1288-5

Electronic ISBN: 978-3-7091-1289-2

Copyright Year: 2013

DOI
https://doi.org/10.1007/978-3-7091-1289-2_3

Premium Partners

    Image Credits