Extended nonlinear analytical modeling and analysis of compound parallelogram mechanisms are conducted in this paper to consider the effect of the initial internal axial force. The nonlinear analytical model of a compound basic parallelogram mechanism (CBPM) is first derived incorporating the initial internal axial force. The stiffness equations of compound multibeam parallelogram mechanisms (CMPMs) are then followed. The analytical maximal stress under the primary actuation force only is also derived to determine the maximal primary motion (motion range). The influence of initial internal axial forces on the primary motion/stiffness is further quantitatively analyzed by considering different slenderness ratios, which can be employed to consider active displacement preloading control and/or thermal effects. The criterion that the primary stiffness may be considered “constant” is defined and the initial internal axial force driven by a temperature change is also formulated. A physical preloading system to control the initial internal axial force is presented and testing results of the object CBPM are compared with theoretical ones.
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August 2016
Research-Article
Extended Static Modeling and Analysis of Compliant Compound Parallelogram Mechanisms Considering the Initial Internal Axial Force*
Guangbo Hao,
Guangbo Hao
School of Engineering-Electrical and
Electronic Engineering,
University College Cork,
Cork, Ireland
e-mail: G.HAO@UCC.IE
Electronic Engineering,
University College Cork,
Cork, Ireland
e-mail: G.HAO@UCC.IE
Search for other works by this author on:
Haiyang Li
Haiyang Li
School of Engineering-Electrical and
Electronic Engineering,
University College Cork,
Cork, Ireland
Electronic Engineering,
University College Cork,
Cork, Ireland
Search for other works by this author on:
Guangbo Hao
School of Engineering-Electrical and
Electronic Engineering,
University College Cork,
Cork, Ireland
e-mail: G.HAO@UCC.IE
Electronic Engineering,
University College Cork,
Cork, Ireland
e-mail: G.HAO@UCC.IE
Haiyang Li
School of Engineering-Electrical and
Electronic Engineering,
University College Cork,
Cork, Ireland
Electronic Engineering,
University College Cork,
Cork, Ireland
1Corresponding author.
Manuscript received September 10, 2015; final manuscript received January 15, 2016; published online March 7, 2016. Assoc. Editor: Xianmin Zhang.
J. Mechanisms Robotics. Aug 2016, 8(4): 041008 (11 pages)
Published Online: March 7, 2016
Article history
Received:
September 10, 2015
Revised:
January 15, 2016
Citation
Hao, G., and Li, H. (March 7, 2016). "Extended Static Modeling and Analysis of Compliant Compound Parallelogram Mechanisms Considering the Initial Internal Axial Force." ASME. J. Mechanisms Robotics. August 2016; 8(4): 041008. https://doi.org/10.1115/1.4032592
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