文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 641–658
ate/mechmt
Analysis of large-pliant mechanisms using
an incremental linearization approach
Chao-Chieh Lan *
Department of Mechanical Engineering, National Cheng Kung University, No. 1 University Road, Tainan 701, Taiwan
Received 28 September 2006; received in revised form 26 March 2007; accepted 28 March 2007
Available online 7 June 2007
Abstract
Compliant mechanisms transmit motion and force by deflection of their flexible members. They are usually made of a
monolithic piece of material and thus involve no wear, backlash, noise, and lubrication. To predict more accurately their
deflected shape in larger working range, the analysis pliant mechanisms has usually based on nonlinear numerical
techniques such as the finite element method. However, the problems of nonlinear analyses are their numerical instability
and putation time. These have limited further applications pliant mechanisms. In this paper, the glo-
bal coordinate model (GCM) with an incremental linearization approach is presented to turn the nonlinear problem into a
sequence of linear problems. Both geometric and material nonlinearities are considered. As a result, numerous linear anal-
ysis techniques can be applied to facilitate design and prototyping pliant mechanisms. Systematic procedures are
developed to analyze pliant mechanisms that may include non-uniform or initially curved segments. Illustra-
tions are shown with results validated experimentally and paring with the nonlinear finite element method. It is
expected that the proposed approach can serve as a basis for broader applications pliant mechanisms.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Compliant mechanisms; Nonlinear analysis; Linearization; Shape optimization
1. Introduction
pliant mechanism is usually made of a monolithic piece of material. Unlike rigid-body mechanisms
where actuations are applied at