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James E. Hubbard - One of the best experts on this subject based on the ideXlab platform.
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Design optimization of a twist Compliant Mechanism with nonlinear stiffness
Smart Materials and Structures, 2014Co-Authors: Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. HubbardAbstract:A contact-aided Compliant Mechanism called a twist Compliant Mechanism (TCM) is presented in this paper. This Mechanism has nonlinear stiffness when it is twisted in both directions along its axis. The inner core of the Mechanism is primarily responsible for its flexibility in one twisting direction. The contact surfaces of the cross-members and Compliant sectors are primarily responsible for its high stiffness in the opposite direction. A desired twist angle in a given direction can be achieved by tailoring the stiffness of a TCM. The stiffness of a Compliant twist Mechanism can be tailored by varying thickness of its cross-members, thickness of the core and thickness of its sectors. A multi-objective optimization problem with three objective functions is proposed in this paper, and used to design an optimal TCM with desired twist angle. The objective functions are to minimize the mass and maximum von-Mises stress observed, while minimizing or maximizing the twist angles under specific loading conditions. The multi-objective optimization problem proposed in this paper is solved for an ornithopter flight research platform as a case study, with the goal of using the TCM to achieve passive twisting of the wing during upstroke, while keeping the wing fully extended and rigid during the downstroke. Prototype TCMs have been fabricated using 3D printing and tested. Testing results are also presented in this paper.
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design and optimization of a contact aided Compliant Mechanism for passive bending
Journal of Mechanisms and Robotics, 2014Co-Authors: Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. HubbardAbstract: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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Design optimization of a twist Compliant Mechanism with nonlinear stiffness
Volume 2: Mechanics and Behavior of Active Materials; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting, 2013Co-Authors: Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. HubbardAbstract:A contact aided Compliant Mechanism called twist Compliant Mechanism is presented in this paper. This Mechanism has nonlinear stiffness when it is twisted in both directions along its axis. The inner core of the Mechanism is responsible for its flexibility in one twisting direction. The contact surfaces of the cross-members and Compliant sectors are responsible for its high stiffness in the opposite direction. A twist Compliant Mechanism with desired twist angle and stiffness can be designed by choosing the right thickness of its cross-members, thickness of the core and thickness of its sectors. A multi-objective optimization problem with three objective functions is proposed in this paper, and used to design an optimal twist Compliant Mechanism with desired deflection. The objective functions are to minimize the mass and maximum von Mises stress observed, while minimizing or maximizing the twist angles under specific loading conditions. The multi-objective optimization problem proposed in this paper is solved using an ornithopter flight research platform as a case study, with the goal of using the twist Compliant Mechanism to achieve passive twisting of the wing during upstroke, while keeping the wing fully extended and rigid during the downstroke. Prototype twist Compliant Mechanisms have been fabricated using a waterjet cutter and will be tested as part of future work.Copyright © 2013 by ASME
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Design and Optimization of a Bend-and-Sweep Compliant Mechanism
Volume 6A: 37th Mechanisms and Robotics Conference, 2013Co-Authors: Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. HubbardAbstract:A novel contact aided Compliant Mechanism called a bend-and-sweep Compliant Mechanism is presented. This Mechanism has tailorable nonlinear stiffness properties in two orthogonal directions. The fundamental element of this Compliant Mechanism is the Angled Compliant Joint (ACJ), and the geometric parameters determine the stiffness. This paper presents the design and optimization of such a Compliant Mechanism.A multi-objective optimization problem was formulated for design optimization of the bend-and-sweep Compliant Mechanism. The objectives of the optimization problem were to maximize the bending and sweep displacements while minimizing the von Mises stress and mass of each Mechanism. This optimization problem was solved using NSGA-II (a genetic algorithm). The results of this optimization for a single ACJ during upstroke and downstroke are presented. Results of two different loading conditions used during optimization of a single ACJ for upstroke are presented. Finally, optimization results comparing the performance of Compliant Mechanisms with one and two ACJs are also presented. It can be inferred from these results that the number of ACJs and the design of each ACJ determines the stiffness of the bend-and-sweep Compliant Mechanism. These Mechanisms can be used in various applications.Ornithopters or flapping wing unmanned aerial vehicles have unique potential to revolutionize both civil and military applications. The overall goal of this research is to improve the performance of such ornithopters by passively morphing their wings. Passive wing morphing of ornithopters can be achieved by inserting contact-aided Compliant Mechanisms in the leading edge wing spar. Previously the authors have shown that bending of ornithopter wings can be achieved by integrating a one degree of freedom contact aided Compliant Mechanism called a Compliant spine. The spine was inserted into the leading edge spar and successful flight testing has shown that passive wing bending in ornithopters is feasible and results in significant improvements in lift and thrust. In order to achieve a bio-inspired wing gait called continuous vortex gait, the wings of the ornithopter need to bend, sweep, and twist simultaneously. This can be achieved by using the bend-and-sweep Compliant presented in this paper.Copyright © 2013 by ASME
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Design and Optimization of a Bend-and-Sweep Compliant Mechanism
Smart Materials and Structures, 2013Co-Authors: James E. HubbardAbstract:A novel contact aided Compliant Mechanism called bend-and-sweep Compliant Mechanism is presented in this paper. This Mechanism has nonlinear stiffness properties in two orthogonal directions. An angled Compliant joint (ACJ) is the fundamental element of this Mechanism. Geometric parameters of ACJs determine the stiffness of the Compliant Mechanism. This paper presents the design and optimization of bend-and-sweep Compliant Mechanism. A multi-objective optimization problem was formulated for design optimization of the bend-and-sweep Compliant Mechanism. The objectives of the optimization problem were to maximize or minimize the bending and sweep displacements, depending on the situation, while minimizing the von Mises stress and mass of each Mechanism. This optimization problem was solved using NSGA-II (a genetic algorithm). The results of this optimization for a single ACJ during upstroke and downstroke are presented in this paper. Results of two different loading conditions used during optimization of a single ACJ for upstroke are presented. Finally, optimization results comparing the performance of Compliant Mechanisms with one and two ACJs are also presented. It can be inferred from these results that the number of ACJs and the design of each ACJ determines the stiffness of the bend-and-sweep Compliant Mechanism. These Mechanisms can be used in various applications. The goal of this research is to improve the performance of ornithopters by passively morphing their wings. In order to achieve a bio-inspired wing gait called continuous vortex gait, the wings of the ornithopter need to bend, and sweep simultaneously. This can be achieved by inserting the bend-and-sweep Compliant Mechanism into the leading edge wing spar of the ornithopters.
Xinyu Geng - One of the best experts on this subject based on the ideXlab platform.
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Experimental verification of robust topology optimization for Compliant Mechanism
Rapid Prototyping Journal, 2020Co-Authors: Xiaojun Wang, Zhenxian Luo, Xinyu GengAbstract:Purpose This paper is to present an experiment to verify that the motion errors of robust topology optimization results of Compliant Mechanisms are insensitive to load dispersion. Design/methodology/approach First, the test pieces of deterministic optimization and robust optimization results are manufactured by the combination of three-dimensional (3D) printing and casting techniques. To measure the displacement of the test piece of Compliant Mechanism, a displacement measurement method based on the image recognition technique is proposed in this paper. Findings According to the experimental data analysis, the robust topology optimization results of Compliant Mechanisms are less sensitive to uncertainties, comparing with the deterministic optimization results. Originality/value An experiment is presented to verify the effectiveness of robust topology optimization for Compliant Mechanisms. The test pieces of deterministic optimization and robust optimization results are manufactured by the combination of 3D printing and casting techniques. By comparing the experimental data, it is found that the motion errors of robust topology optimization results of Compliant Mechanisms are insensitive to load dispersion.
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Experimental verification of robust topology optimization for Compliant Mechanism
Rapid Prototyping Journal, 2020Co-Authors: Xiaojun Wang, Zhenxian Luo, Xinyu GengAbstract:This paper is to present an experiment to verify that the motion errors of robust topology optimization results of Compliant Mechanisms are insensitive to load dispersion.,First, the test pieces of deterministic optimization and robust optimization results are manufactured by the combination of three-dimensional (3D) printing and casting techniques. To measure the displacement of the test piece of Compliant Mechanism, a displacement measurement method based on the image recognition technique is proposed in this paper.,According to the experimental data analysis, the robust topology optimization results of Compliant Mechanisms are less sensitive to uncertainties, comparing with the deterministic optimization results.,An experiment is presented to verify the effectiveness of robust topology optimization for Compliant Mechanisms. The test pieces of deterministic optimization and robust optimization results are manufactured by the combination of 3D printing and casting techniques. By comparing the experimental data, it is found that the motion errors of robust topology optimization results of Compliant Mechanisms are insensitive to load dispersion.
Yashwanth Tummala - One of the best experts on this subject based on the ideXlab platform.
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Design optimization of a twist Compliant Mechanism with nonlinear stiffness
Smart Materials and Structures, 2014Co-Authors: Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. HubbardAbstract:A contact-aided Compliant Mechanism called a twist Compliant Mechanism (TCM) is presented in this paper. This Mechanism has nonlinear stiffness when it is twisted in both directions along its axis. The inner core of the Mechanism is primarily responsible for its flexibility in one twisting direction. The contact surfaces of the cross-members and Compliant sectors are primarily responsible for its high stiffness in the opposite direction. A desired twist angle in a given direction can be achieved by tailoring the stiffness of a TCM. The stiffness of a Compliant twist Mechanism can be tailored by varying thickness of its cross-members, thickness of the core and thickness of its sectors. A multi-objective optimization problem with three objective functions is proposed in this paper, and used to design an optimal TCM with desired twist angle. The objective functions are to minimize the mass and maximum von-Mises stress observed, while minimizing or maximizing the twist angles under specific loading conditions. The multi-objective optimization problem proposed in this paper is solved for an ornithopter flight research platform as a case study, with the goal of using the TCM to achieve passive twisting of the wing during upstroke, while keeping the wing fully extended and rigid during the downstroke. Prototype TCMs have been fabricated using 3D printing and tested. Testing results are also presented in this paper.
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design and optimization of a contact aided Compliant Mechanism for passive bending
Journal of Mechanisms and Robotics, 2014Co-Authors: Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. HubbardAbstract: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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Design optimization of a twist Compliant Mechanism with nonlinear stiffness
Volume 2: Mechanics and Behavior of Active Materials; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting, 2013Co-Authors: Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. HubbardAbstract:A contact aided Compliant Mechanism called twist Compliant Mechanism is presented in this paper. This Mechanism has nonlinear stiffness when it is twisted in both directions along its axis. The inner core of the Mechanism is responsible for its flexibility in one twisting direction. The contact surfaces of the cross-members and Compliant sectors are responsible for its high stiffness in the opposite direction. A twist Compliant Mechanism with desired twist angle and stiffness can be designed by choosing the right thickness of its cross-members, thickness of the core and thickness of its sectors. A multi-objective optimization problem with three objective functions is proposed in this paper, and used to design an optimal twist Compliant Mechanism with desired deflection. The objective functions are to minimize the mass and maximum von Mises stress observed, while minimizing or maximizing the twist angles under specific loading conditions. The multi-objective optimization problem proposed in this paper is solved using an ornithopter flight research platform as a case study, with the goal of using the twist Compliant Mechanism to achieve passive twisting of the wing during upstroke, while keeping the wing fully extended and rigid during the downstroke. Prototype twist Compliant Mechanisms have been fabricated using a waterjet cutter and will be tested as part of future work.Copyright © 2013 by ASME
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Design and Optimization of a Bend-and-Sweep Compliant Mechanism
Volume 6A: 37th Mechanisms and Robotics Conference, 2013Co-Authors: Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. HubbardAbstract:A novel contact aided Compliant Mechanism called a bend-and-sweep Compliant Mechanism is presented. This Mechanism has tailorable nonlinear stiffness properties in two orthogonal directions. The fundamental element of this Compliant Mechanism is the Angled Compliant Joint (ACJ), and the geometric parameters determine the stiffness. This paper presents the design and optimization of such a Compliant Mechanism.A multi-objective optimization problem was formulated for design optimization of the bend-and-sweep Compliant Mechanism. The objectives of the optimization problem were to maximize the bending and sweep displacements while minimizing the von Mises stress and mass of each Mechanism. This optimization problem was solved using NSGA-II (a genetic algorithm). The results of this optimization for a single ACJ during upstroke and downstroke are presented. Results of two different loading conditions used during optimization of a single ACJ for upstroke are presented. Finally, optimization results comparing the performance of Compliant Mechanisms with one and two ACJs are also presented. It can be inferred from these results that the number of ACJs and the design of each ACJ determines the stiffness of the bend-and-sweep Compliant Mechanism. These Mechanisms can be used in various applications.Ornithopters or flapping wing unmanned aerial vehicles have unique potential to revolutionize both civil and military applications. The overall goal of this research is to improve the performance of such ornithopters by passively morphing their wings. Passive wing morphing of ornithopters can be achieved by inserting contact-aided Compliant Mechanisms in the leading edge wing spar. Previously the authors have shown that bending of ornithopter wings can be achieved by integrating a one degree of freedom contact aided Compliant Mechanism called a Compliant spine. The spine was inserted into the leading edge spar and successful flight testing has shown that passive wing bending in ornithopters is feasible and results in significant improvements in lift and thrust. In order to achieve a bio-inspired wing gait called continuous vortex gait, the wings of the ornithopter need to bend, sweep, and twist simultaneously. This can be achieved by using the bend-and-sweep Compliant presented in this paper.Copyright © 2013 by ASME
Mary Frecker - One of the best experts on this subject based on the ideXlab platform.
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Design for Additive Manufacturing of Cellular Compliant Mechanism Using Thermal History Feedback
Volume 2A: 44th Design Automation Conference, 2018Co-Authors: Jivtesh B. Khurana, Bradley Hanks, Mary FreckerAbstract:With growing interest in metal additive manufacturing, one area of interest for design for additive manufacturing is the ability to understand how part geometry combined with the manufacturing process will affect part performance. In addition, many researchers are pursuing design for additive manufacturing with the goal of generating designs for stiff and lightweight applications as opposed to tailored compliance. A Compliant Mechanism has unique advantages over traditional Mechanisms but previously, complex 3D Compliant Mechanisms have been limited by manufacturability. Recent advances in additive manufacturing enable fabrication of more complex and 3D metal Compliant Mechanisms, an area of research that is relatively unexplored. In this paper, a design for additive manufacturing workflow is proposed that incorporates feedback to a designer on both the structural performance and manufacturability. Specifically, a cellular contact-aided Compliant Mechanism for energy absorption is used as a test problem. Insights gained from finite element simulations of the energy absorbed as well as the thermal history from an AM build simulation are used to further refine the design. Using the proposed workflow, several trends on the performance and manufacturability of the test problem are determined and used to redesign the Compliant unit cell. When compared to a preliminary unit cell design, a redesigned unit cell showed decreased energy absorption capacity of only 7.8% while decreasing thermal distortion by 20%. The workflow presented provides a systematic approach to inform a designer about methods to redesign an AM part.
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Two Stage Design of Compliant Mechanisms With Superelastic Compliant Joints
Volume 2: Modeling Simulation and Control of Adaptive Systems; Integrated System Design and Implementation; Structural Health Monitoring, 2017Co-Authors: Jovana Jovanova, Mary FreckerAbstract:The design of Compliant Mechanisms made of Nickel Titanium (NiTi) Shape Memory Alloys (SMAs) is considered to exploit the superelastic behavior of the material to achieve tailored high flexibility on demand. This paper focuses on two-stage design optimization of Compliant Mechanisms, as a systematic method for design of the composition of the functionally graded NiTi material within the Compliant Mechanism devices. The location, as well as geometric and mechanical properties, of zones of high and low flexibility will be selected to maximize mechanical performance. The proposed two-stage optimization procedure combines the optimization of an analytical model of a single-piece functionally graded unit, with a detailed FEA of a continuous Compliant Mechanism. In the first stage, a rigid-link model is developed to initially approximate the behavior of the Compliant Mechanism. In the second stage the solution of the rigid-link problem serves as the starting point for a continuous analytical model where the Mechanism consists of zones with different material properties and geometry, followed by a detailed FEA of a Compliant Mechanism with integrated zones of superelasticity. The two-stage optimization is a systematic approach for Compliant Mechanism design with functional grading of the material to exploit superelastic response in controlled manner. Direct energy deposition, as an additive manufacturing technology, is foreseen to fabricate assemblies with multiple single piece functional graded components. This method could be applied to bio-inspired structures, flapping wings, flexible adaptive structures and origami inspired Compliant Mechanisms.
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Design optimization of a twist Compliant Mechanism with nonlinear stiffness
Smart Materials and Structures, 2014Co-Authors: Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. HubbardAbstract:A contact-aided Compliant Mechanism called a twist Compliant Mechanism (TCM) is presented in this paper. This Mechanism has nonlinear stiffness when it is twisted in both directions along its axis. The inner core of the Mechanism is primarily responsible for its flexibility in one twisting direction. The contact surfaces of the cross-members and Compliant sectors are primarily responsible for its high stiffness in the opposite direction. A desired twist angle in a given direction can be achieved by tailoring the stiffness of a TCM. The stiffness of a Compliant twist Mechanism can be tailored by varying thickness of its cross-members, thickness of the core and thickness of its sectors. A multi-objective optimization problem with three objective functions is proposed in this paper, and used to design an optimal TCM with desired twist angle. The objective functions are to minimize the mass and maximum von-Mises stress observed, while minimizing or maximizing the twist angles under specific loading conditions. The multi-objective optimization problem proposed in this paper is solved for an ornithopter flight research platform as a case study, with the goal of using the TCM to achieve passive twisting of the wing during upstroke, while keeping the wing fully extended and rigid during the downstroke. Prototype TCMs have been fabricated using 3D printing and tested. Testing results are also presented in this paper.
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design and optimization of a contact aided Compliant Mechanism for passive bending
Journal of Mechanisms and Robotics, 2014Co-Authors: Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. HubbardAbstract: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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Design optimization of a twist Compliant Mechanism with nonlinear stiffness
Volume 2: Mechanics and Behavior of Active Materials; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting, 2013Co-Authors: Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. HubbardAbstract:A contact aided Compliant Mechanism called twist Compliant Mechanism is presented in this paper. This Mechanism has nonlinear stiffness when it is twisted in both directions along its axis. The inner core of the Mechanism is responsible for its flexibility in one twisting direction. The contact surfaces of the cross-members and Compliant sectors are responsible for its high stiffness in the opposite direction. A twist Compliant Mechanism with desired twist angle and stiffness can be designed by choosing the right thickness of its cross-members, thickness of the core and thickness of its sectors. A multi-objective optimization problem with three objective functions is proposed in this paper, and used to design an optimal twist Compliant Mechanism with desired deflection. The objective functions are to minimize the mass and maximum von Mises stress observed, while minimizing or maximizing the twist angles under specific loading conditions. The multi-objective optimization problem proposed in this paper is solved using an ornithopter flight research platform as a case study, with the goal of using the twist Compliant Mechanism to achieve passive twisting of the wing during upstroke, while keeping the wing fully extended and rigid during the downstroke. Prototype twist Compliant Mechanisms have been fabricated using a waterjet cutter and will be tested as part of future work.Copyright © 2013 by ASME
Xiaojun Wang - One of the best experts on this subject based on the ideXlab platform.
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Experimental verification of robust topology optimization for Compliant Mechanism
Rapid Prototyping Journal, 2020Co-Authors: Xiaojun Wang, Zhenxian Luo, Xinyu GengAbstract:Purpose This paper is to present an experiment to verify that the motion errors of robust topology optimization results of Compliant Mechanisms are insensitive to load dispersion. Design/methodology/approach First, the test pieces of deterministic optimization and robust optimization results are manufactured by the combination of three-dimensional (3D) printing and casting techniques. To measure the displacement of the test piece of Compliant Mechanism, a displacement measurement method based on the image recognition technique is proposed in this paper. Findings According to the experimental data analysis, the robust topology optimization results of Compliant Mechanisms are less sensitive to uncertainties, comparing with the deterministic optimization results. Originality/value An experiment is presented to verify the effectiveness of robust topology optimization for Compliant Mechanisms. The test pieces of deterministic optimization and robust optimization results are manufactured by the combination of 3D printing and casting techniques. By comparing the experimental data, it is found that the motion errors of robust topology optimization results of Compliant Mechanisms are insensitive to load dispersion.
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Experimental verification of robust topology optimization for Compliant Mechanism
Rapid Prototyping Journal, 2020Co-Authors: Xiaojun Wang, Zhenxian Luo, Xinyu GengAbstract:This paper is to present an experiment to verify that the motion errors of robust topology optimization results of Compliant Mechanisms are insensitive to load dispersion.,First, the test pieces of deterministic optimization and robust optimization results are manufactured by the combination of three-dimensional (3D) printing and casting techniques. To measure the displacement of the test piece of Compliant Mechanism, a displacement measurement method based on the image recognition technique is proposed in this paper.,According to the experimental data analysis, the robust topology optimization results of Compliant Mechanisms are less sensitive to uncertainties, comparing with the deterministic optimization results.,An experiment is presented to verify the effectiveness of robust topology optimization for Compliant Mechanisms. The test pieces of deterministic optimization and robust optimization results are manufactured by the combination of 3D printing and casting techniques. By comparing the experimental data, it is found that the motion errors of robust topology optimization results of Compliant Mechanisms are insensitive to load dispersion.