Compliant shell mechanisms utilize spatially curved thin-walled structures to transfer or transmit force, motion, or energy through elastic deformation. To design spatial mechanisms, designers need comprehensive nonlinear characterization methods, while the existing methods fall short of meaningful comparisons between rotational and translational degrees-of-freedom. This paper presents two approaches, both of which are based on the principle of virtual loads and potential energy, utilizing properties of screw theory, Plücker coordinates, and an eigen-decomposition. This leads to two unification lengths that can be used to compare and visualize all six degrees-of-freedom directions and magnitudes in a nonarbitrary, physically meaningful manner for mechanisms exhibiting geometrically nonlinear behavior.
Unified Stiffness Characterization of Nonlinear Compliant Shell Mechanisms
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received February 5, 2018; final manuscript received October 8, 2018; published online December 10, 2018. Assoc. Editor: Hai-Jun Su.
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Leemans, J. R., Kim, C. J., van de Sande, W. W. .. J., and Herder, J. L. (December 10, 2018). "Unified Stiffness Characterization of Nonlinear Compliant Shell Mechanisms." ASME. J. Mechanisms Robotics. February 2019; 11(1): 011011. https://doi.org/10.1115/1.4041785
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