Mobility analysis is an important step in the conceptual design of flexure systems. It involves identifying directions with relatively compliant motion (freedoms) and directions with relatively restricted motion (constraints). This paper proposes a deterministic framework for mobility analysis of wire flexure systems based on characterizing a kinetostatic vector field known as “load flow” through the geometry. A hypothesis is proposed to identify constraints and freedoms based on the relationship between load flow and the flexure geometry. This hypothesis is mathematically restated to formulate a matrix-based reduction technique that determines flexure mobility computationally. Several examples with varying complexity are illustrated to validate the efficacy of this technique. This technique is particularly useful in analyzing complex hybrid interconnected flexure topologies, which may be nonintuitive or involved with traditional methods. This is illustrated through the computational mobility analysis of a bio-inspired fiber reinforced elastomer pressurized with fluids. The proposed framework combines both visual insight and analytical rigor, and will complement existing analysis and synthesis techniques.
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December 2016
Research-Article
Qualitative Mobility Analysis of Wire Flexure Systems Using Load Flow Visualization
Sreeshankar Satheeshbabu,
Sreeshankar Satheeshbabu
Department of Industrial and Enterprise
Systems Engineering,
University of Illinois Urbana-Champaign,
Urbana, IL 61853
e-mail: [email protected]
Systems Engineering,
University of Illinois Urbana-Champaign,
Urbana, IL 61853
e-mail: [email protected]
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Girish Krishnan
Girish Krishnan
Assistant Professor
Mem. ASME
Department of Industrial
and Enterprise Systems Engineering,
University of Illinois Urbana-Champaign,
Urbana, IL 61853
e-mail: [email protected]
Mem. ASME
Department of Industrial
and Enterprise Systems Engineering,
University of Illinois Urbana-Champaign,
Urbana, IL 61853
e-mail: [email protected]
Search for other works by this author on:
Sreeshankar Satheeshbabu
Department of Industrial and Enterprise
Systems Engineering,
University of Illinois Urbana-Champaign,
Urbana, IL 61853
e-mail: [email protected]
Systems Engineering,
University of Illinois Urbana-Champaign,
Urbana, IL 61853
e-mail: [email protected]
Girish Krishnan
Assistant Professor
Mem. ASME
Department of Industrial
and Enterprise Systems Engineering,
University of Illinois Urbana-Champaign,
Urbana, IL 61853
e-mail: [email protected]
Mem. ASME
Department of Industrial
and Enterprise Systems Engineering,
University of Illinois Urbana-Champaign,
Urbana, IL 61853
e-mail: [email protected]
1Corresponding author.
Manuscript received January 1, 2016; final manuscript received May 23, 2016; published online September 8, 2016. Assoc. Editor: Larry L Howell.
J. Mechanisms Robotics. Dec 2016, 8(6): 061012 (11 pages)
Published Online: September 8, 2016
Article history
Received:
January 1, 2016
Revised:
May 23, 2016
Citation
Satheeshbabu, S., and Krishnan, G. (September 8, 2016). "Qualitative Mobility Analysis of Wire Flexure Systems Using Load Flow Visualization." ASME. J. Mechanisms Robotics. December 2016; 8(6): 061012. https://doi.org/10.1115/1.4033859
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