A contact-aided compliant mechanism (CCM) called a compliant spine (CS) is presented in this paper. It is flexible when bending in one direction and stiff when bending in the opposite direction, giving it a nonlinear bending stiffness. The fundamental element of this mechanism is a compliant joint (CJ), which consists of a compliant hinge (CH) and contact surfaces. The design of the compliant joint and the number of compliant joints in a compliant spine determine its stiffness. This paper presents the design and optimization of such a compliant spine. A multi-objective optimization problem with three objectives is formulated in order to perform the design optimization of the compliant spine. The goal of the optimization is to minimize the peak stress and mass while maximizing the deflection, subject to geometric and other constraints. Flapping wing unmanned air vehicles, also known as ornithopters, are used as a case study in this paper to test the accuracy of the design optimization procedure and to prove the efficacy of the compliant spine design. The optimal compliant spine designs obtained from the optimization procedure are fabricated, integrated into the ornithopter's wing leading edge spar, and flight tested. Results from the flight tests prove the ability of the compliant spine to produce an asymmetry in the ornithopter's wing kinematics during the up and down strokes.
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August 2014
Research-Article
Design and Optimization of a Contact-Aided Compliant Mechanism for Passive Bending
Yashwanth Tummala,
Yashwanth Tummala
Graduate Research Assistant
Department of Mechanical & Nuclear Engineering,
University Park, PA 16802
e-mail: yashwanth.tummala@gmail.com
The Pennsylvania State University
,Department of Mechanical & Nuclear Engineering,
University Park, PA 16802
e-mail: yashwanth.tummala@gmail.com
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Aimy Wissa,
Aimy Wissa
Department of Aerospace Engineering,
University of Maryland,
e-mail: aimy.wissa@gmail.com
University of Maryland,
National Institute of Aerospace
,Hampton, VA
e-mail: aimy.wissa@gmail.com
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Mary Frecker,
Mary Frecker
Professor
Department of Mechanical and
Nuclear Engineering,
e-mail: mxf36@engr.psu.edu
Department of Mechanical and
Nuclear Engineering,
The Pennsylvania State University
,University Park, PA
e-mail: mxf36@engr.psu.edu
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James E. Hubbard
James E. Hubbard
Langley Distinguished Professor
Department of Aerospace Engineering,
University of Maryland,
e-mail: james.hubbard@nianet.org
Department of Aerospace Engineering,
University of Maryland,
National Institute of Aerospace
,Hampton, VA
e-mail: james.hubbard@nianet.org
Search for other works by this author on:
Yashwanth Tummala
Graduate Research Assistant
Department of Mechanical & Nuclear Engineering,
University Park, PA 16802
e-mail: yashwanth.tummala@gmail.com
The Pennsylvania State University
,Department of Mechanical & Nuclear Engineering,
University Park, PA 16802
e-mail: yashwanth.tummala@gmail.com
Aimy Wissa
Department of Aerospace Engineering,
University of Maryland,
e-mail: aimy.wissa@gmail.com
University of Maryland,
National Institute of Aerospace
,Hampton, VA
e-mail: aimy.wissa@gmail.com
Mary Frecker
Professor
Department of Mechanical and
Nuclear Engineering,
e-mail: mxf36@engr.psu.edu
Department of Mechanical and
Nuclear Engineering,
The Pennsylvania State University
,University Park, PA
e-mail: mxf36@engr.psu.edu
James E. Hubbard
Langley Distinguished Professor
Department of Aerospace Engineering,
University of Maryland,
e-mail: james.hubbard@nianet.org
Department of Aerospace Engineering,
University of Maryland,
National Institute of Aerospace
,Hampton, VA
e-mail: james.hubbard@nianet.org
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received September 10, 2013; final manuscript received April 14, 2014; published online June 17, 2014. Assoc. Editor: Anupam Saxena.
J. Mechanisms Robotics. Aug 2014, 6(3): 031013 (9 pages)
Published Online: June 17, 2014
Article history
Received:
September 10, 2013
Revision Received:
April 14, 2014
Citation
Tummala, Y., Wissa, A., Frecker, M., and Hubbard, J. E. (June 17, 2014). "Design and Optimization of a Contact-Aided Compliant Mechanism for Passive Bending." ASME. J. Mechanisms Robotics. August 2014; 6(3): 031013. https://doi.org/10.1115/1.4027702
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