A Design Method for Flexure-Based Compliant Mechanisms on the Basis of Stiffness and Stress Characteristics

Geometric nonlinearities of flexure hinges introduced by large deflections often complicate the analysis of compliant mechanisms containing such members, and therefore, Pseudo-Rigid-Body Models (PRBMs) have been well proposed and developed by Howell [1994] to analyze the characteristics of slender beams under large deflection. These models, however, fail to approximate the characteristics for the deep beams (short beams) or the other flexure hinges. Lobontiu's work [2001] contributed to the diverse flexure hinge analysis building on the assumptions of small deflection, which also limits the application range of these flexure hinges and cannot analyze the stiffness and stress characteristics of these flexure hinges for large deflection. Therefore, the objective of this thesis is to analyze flexure hinges considering both the effects of large-deflection and shear force, which guides the design of flexure-based compliant mechanisms. The main work conducted in the thesis is outlined as follows. 1. Three popular types of flexure hinges: (circular flexure hinges, elliptical flexure hinges and corner-filleted flexure hinges) are chosen for analysis at first. 2. Commercial software (Comsol) based Finite Element Analysis (FEA) method is then used for correcting the errors produced by the equations proposed by Lobontiu when the chosen flexure hinges suffer from large deformation. 3. Three sets of generic design equations for the three types of flexure hinges are further proposed on the basis of stiffness and stress characteristics from the FEA results. 4. A flexure-based four-bar compliant mechanism is finally studied and modeled using the proposed generic design equations. The load-displacement relationships are verified by a numerical example. The results show that a maximum error about the relationship between moment and rotation deformation is less than 3.4% for a flexure hinge, and it is lower than 5% for the four-bar compliant mechanism compared with the FEA results.

Design and Characterization of Curved and Spherical Flexure Hinges for Planar and Spatial Compliant Mechanisms

A flexure hinge is a flexible connector that can provide a limited rotational motion between two rigid parts by means of material deformation. These connectors can be used to substitute traditional kinematic pairs (like bearing couplings) in rigid-body mechanisms. When compared to their rigid-body counterpart, flexure hinges are characterized by reduced weight, absence of backlash and friction, part-count reduction, but restricted range of motion. There are several types of flexure hinges in the literature that have been studied and characterized for different applications. In our study, we have introduced new types of flexures with curved structures i.e. circularly curved-beam flexures and spherical flexures. These flexures have been utilized for both planar applications (e.g. articulated robotic fingers) and spatial applications (e.g. spherical compliant mechanisms). We have derived closed-form compliance equations for both circularly curved-beam flexures and spherical flexures. Each element of the spatial compliance matrix is analytically computed as a function of hinge dimensions and employed material. The theoretical model is then validated by comparing analytical data with the results obtained through Finite Element Analysis. A case study is also presented for each class of flexures, concerning the potential applications in the optimal design of planar and spatial compliant mechanisms. Each case study is followed by comparing the performance of these novel flexures with the performance of commonly used geometries in terms of principle compliance factors, parasitic motions and maximum stress demands. Furthermore, we have extended our study to the design and analysis of serial and parallel compliant mechanisms, where the proposed flexures have been employed to achieve spatial motions e.g. compliant spherical joints.

Design and analysis of a compliant parallel pan-tilt platform

In combination of the advantages of both parallel mechanisms and compliant mechanisms, a compliant parallel mechanism with two rotational DOFs (degrees of freedom) is designed to meet the requirement of a lightweight and compact pan-tilt platform. Firstly, two commonly-used design methods i.e. direct substitution and FACT (Freedom and Constraint Topology) are applied to design the configuration of the pan-tilt system, and similarities and differences of the two design alternatives are compared. Then inverse kinematic analysis of the candidate mechanism is implemented by using the pseudo-rigid-body model (PRBM), and the Jacobian related to its differential kinematics is further derived to help designer realize dynamic analysis of the 8R compliant mechanism. In addition, the mechanism’s maximum stress existing within its workspace is tested by finite element analysis. Finally, a method to determine joint damping of the flexure hinge is presented, which aims at exploring the effect of joint damping on actuator selection and real-time control. To the authors’ knowledge, almost no existing literature concerns with this issue.

Determinação da tenacidade à fratura em corte (GIIc) de adesivos estruturais pelo ensaio End-Notched Flexure (ENF)

Os adesivos têm sido alvo de estudo ao longo dos últimos anos para ligação de componentes a nível industrial. Devido à crescente utilização das juntas adesivas, torna-se necessária a existência de modelos de previsão de resistência que sejam fiáveis e robustos. Neste âmbito, a determinação das propriedades dos adesivos é fundamental para o projeto de ligações coladas. Uma abordagem recente consiste no uso de modelos de dano coesivo (MDC), que permitem simular o comportamento à fratura das juntas de forma bastante fiável. Esta técnica requer a definição das leis coesivas em tração e corte. Estas leis coesivas dependem essencialmente de 2 parâmetros: a tensão limite e a tenacidade no modo de solicitação respetivo. O ensaio End-Notched Flexure (ENF) é o mais utilizado para determinar a tenacidade em corte, porque é conhecido por ser o mais expedito e fiável para caraterizar este parâmetro. Neste ensaio, os provetes são sujeitos a flexão em 3 pontos, sendo apoiados nas extremidades e solicitados no ponto médio para promover a flexão entre substratos, o que se reflete numa solicitação de corte no adesivo. A partir deste ensaio, e após de definida a tenacidade em corte (GIIc), existem alguns métodos para estimativa da lei coesiva respetiva. Nesta dissertação são definidas as leis coesivas em corte de três adesivos estruturais através do ensaio ENF e um método inverso de ajuste dos dados experimentais. Para o efeito, foram realizados ensaios experimentais considerado um adesivo frágil, o Araldite® AV138, um adesivo moderadamente dúctil, o Araldite® 2015 e outro dúctil, o SikaForce® 7752. O trabalho experimental consistiu na realização dos ensaios ENF e respetivo tratamento dos dados para obtenção das curvas de resistência (curvas-R) através dos seguintes métodos: Compliance Calibration Method (CCM), Direct Beam Theory (DBT), Corrected Beam Theory (CBT) e Compliance-Based Beam Method (CBBM). Os ensaios foram simulados numericamente pelo código comercial ABAQUS®, recorrendo ao Métodos de Elementos Finitos (MEF) e um MDC triangular, com o intuito de estimar a lei coesiva de cada um dos adesivos em solicitação de corte. Após este estudo, foi feita uma análise de sensibilidade ao valor de GIIc e resistência coesiva ao corte (tS 0), para uma melhor compreensão do efeito destes parâmetros na curva P- do ensaio ENF. Com o objetivo de testar adequação dos 4 métodos de obtenção de GIIc usados neste trabalho, estes foram aplicados a curvas P- numéricas de cada um dos 3 adesivos, e os valores de GIIc previstos por estes métodos comparados com os respetivos valores introduzidos nos modelos numéricos. Como resultado do trabalho realizado, conseguiu-se obter uma lei coesiva única em corte para cada um dos 3 adesivos testados, que é capaz de reproduzir com precisão os resultados experimentais.

Concrete with triphasic conductive materials for self-monitoring of cracking development subjected to flexure

In this study, the macro steel fiber (SF), carbon fiber (CF) and nano carbon black (NCB) as triphasic conductive materials were added into concrete, in order to improve the conductivity and ductility of concrete. The influence of NCB, SF and CF on the post crack behavior and conductivity of concrete was explored. The effect of the triphasic conductive materials on the self-diagnosing ability to the load–deflection property and crack widening of conductive concrete member subjected to bending were investigated. The relationship between the fractional change in surface impedance (FCR) and the crack opening displacement (COD) of concrete beams with conductive materials has been established. The results illustrated that there is a linear relationship between COD and FCR.

Modelling of mechanical properties of CRFC composites under flexure loading

Carbon Fibre Reinforced Carbon (CFRC) Composites are increasing their applications due to their high strength and Young’s Modulus at high temperatures in inert atmosphere. Although much work has been done on processing and structure and properties relationship, few studies have addressed the modelling of mechanical properties. This work is divided in two parts. In the first part, a modelling of mechanical properties was carried out for two bi-directional composites using a model based on the Bernoulli-Euler theory for symmetric laminated beams. In the second part, acoustic emission (AE) was used as an auxiliary technique for monitoring the failure process of the composites. Differences in fracture behaviour are reflected in patterns of AE.

Strength and serviceability performance of beams reinforced with GFRP bars in flexure

Glass fiber reinforced polymer (GFRP) rebars have been identified as an alternate construction material for reinforcing concrete during the last decade primarily due to its strength and durability related characteristics. These materials have strength higher than steel, but exhibit linear stress–strain response up to failure. Furthermore, the modulus of elasticity of GFRP is significantly lower than that of steel. This reduced stiffness often controls the design of the GFRP reinforced concrete elements. In the present investigation, GFRP reinforced beams designed based on limit state principles have been examined to understand their strength and serviceability performance. A block type rotation failure was observed for GFRP reinforced beams, while flexural failure was observed in geometrically similar control beams reinforced with steel rebars. An analytical model has been proposed for strength assessment accounting for the failure pattern observed for GFRP reinforced beams. The serviceability criteria for design of GFRP reinforced beams appear to be governed by maximum crack width. An empirical model has been proposed for predicting the maximum width of the cracks. Deflection of these GFRP rebar reinforced beams has been predicted using an earlier model available in the literature. The results predicted by the analytical model compare well with the experimental data

Flexure-shear Analysis of Concrete Beam Reinforced with GFRP bars

This paper gives the details of flexure-shear analysis of concrete beams reinforced with GFRP rebars. The influence of vertical reinforcement ratio, longitudinal reinforcement ratio and compressive strength of concrete on shear strength of GFRP reinforced concrete beam is studied. The critical value of shear span to depth ratio (a/d) at which the mode of failure changes from flexure to shear is studied. The fail-ure load of the beam is predicted for various values of a/d ratio. The prediction show that the longitudinally FRP reinforced concrete beams having no stirrups fail in shear for a/d ratio less than 9.0. It is expected that the predicted data is useful for structural engineers to design the FRP reinforced concrete members.

Flexure based mounts for sensitive payloads : a management and engineering study

by Daniel K. Moon.

Brytmånens utformning vid trädfällning - Jämförande studier av böjmotstånd och gångjärnseffekt : Designing felling hinge in tree felling - Comparative studies of bending resistance and hinge effect

Vid trädfällning med motorsåg sparar man en så kallad brytmån som skall fungera som ett gång¬järn när trädet fälls. Om brytmånen går av tidigt finns en risk att trädet faller okontrolle¬rat. De rekommendationer som finns säger att brytmånens bredd skall göras proportionell mot trädets diameter. Genom att teoretiskt och praktiskt undersöka vilka krafter brytmånen utsätts för och vad den håller för har det varit möjligt att dra vissa slutsatser om hur en bra brytmån skall se ut. Ett viktigt resultat är att en bred brytmån (över 30-40 mm) är mycket trög att böja och inte fungerar i det avseendet att den går av redan vid små böjningar. Teoretiska be¬räkningar och praktiska försök visar att en relativt smal brytmån håller för belastningen vid rakt motlut även på stora träd. Som ny rekommendationen föreslås att brytmånens bredd inte bör vara mer än 30 mm. Av försöken kan man också dra slutsatsen att frusen ved är stel och brister tidigt, varför svår¬fällda träd inte bör fällas när veden är fryst.A felling hinge is used when felling trees by help of chain saw. If the hinge breaks early in the fall of the tree there is a great risk that the tree will fall without control. Present recommenda¬tions in Sweden say that the thickness of the felling hinge shall be made in proportion to the stem diameter. By use of theoretical and practical examinations of the forces stressing the felling hinge, and the strength of the wood itself, it has been possible to draw conclusions regarding the correct design of a felling hinge. One important result is that a thick felling hinge (over 30-40 mm) is very hard to bend and does not work well as it looses most of its strength already at a small forward bending angel. Theoretical calculations and practical tests show that a relatively narrow felling hinge will manage very well the forces when felling trees with lean opposite to the felling direction even for large trees. Our new recommendation is that the thickness of the felling hinge in normal Swedish conditions should not exceed 30 mm. Through the studies it can also be seen that frozen, brittle wood breaks at small bending angels. For that reason particularly difficult trees not should be felled when the wood is frozen.

Crystallographic and spectroscopic characterization of a molecular hinge: Conformational changes in bothropstoxin I, a dimeric Lys49 phospholipase A2 homologue

Bothropstoxin I(BthTX-I) from the venom of Bothrops jararacussu is a myotoxic phospholipase A2 (PLA2) homologue which, although catalytically inactive due to an Asp49-->Lys substitution, disrupts the integrity of lipid membranes by a Ca2+-independent mechanism, the crystal structures of two dimeric farms of BthLTX-I which diffract X-rays eo resolutions of 3.1 and 2.1 Angstrom have been determined, the monomers in both structures are related by an almost perfect twofold axis of rotation and the dimer interfaces are defined by contacts between the N-terminal alpha-helical regions and the tips of the beta-wings of partner monomers. Significant differences in the relative orientation of the monomers in the two crystal forms results in open and closed dimer conformations, Spectroscopic Investigations of BthTX-I in solution have correlated these conformational differences with changes in the intrinsic fluorescence emission of the single tryptophan residues located at the dimer interface, the possible relevance of this structural transition in the Ca2+-independent membrane damaging activity is discussed. (C) 1998 Wiley-Liss, Inc.

Assessing the extent of colon lengthening due to splenic flexure mobilization techniques: a cadaver study

CONTEXT: Failure of a colorectal anastomosis represents a life-threatening complication of colorectal surgery. Splenic flexure mobilization may contribute to reduce the occurrence of anastomotic complications due to technical flaws. There are no published reports measuring the impact of splenic flexure mobilization on the length of mobilized colon viable to construct a safe colorectal anastomosis. OBJECTIVE: The aim of the present study was to determine the effect of two techniques for splenic flexure mobilization on colon lengthening during open left-sided colon surgery using a cadaver model. DESIGN: Anatomical dissections for left colectomy and colorectal anastomosis at the sacral promontory level were conducted in 20 fresh cadavers by the same team of four surgeons. The effect of partial and full splenic flexure mobilization on the extent of mobilized left colon segment was determined. SETTING: University of Sao Paulo Medical School, Sao Paulo, SP, Brazil. Tertiary medical institution and university hospital. PARTICIPANTS: A team of four surgeons operated on 20 fresh cadavers. RESULTS: The length of resected left colon enabling a tension-free colorectal anastomosis at the level of sacral promontory achieved without mobilizing the splenic flexure was 46.3 (35-81) cm. After partial mobilization of the splenic flexure, an additionally mobilized colon segment measuring 10.7 (2-30) cm was obtained. After full mobilization of the distal transverse colon, a mean 28.3 (10-65) cm segment was achieved. CONCLUSION: Splenic flexure mobilization techniques are associated to effective left colon lengthening for colorectal anastomosis. This result may contribute to decision-making during rectal surgery and low colorectal and coloanal anastomosis.