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RISS 인기검색어
- 검색키워드
- 저자 : Ayse Tekes (검색결과 3 건)
- 무료
- 기관 내 무료
- 유료
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Design, modelling and experimentation of a novel compliant translational dwell mechanism
Ayse Tekes,Hongkuan Lin,Kevin McFall 대한기계학회 2019 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.33 No.7
A partially compliant novel translational double dwell mechanism is presented in this article. The designed mechanism consists of initially straight and preloaded pinned-pinned compliant links, rigid crank, slider-rail system and a DC motor. Slider doesn’t move until the critical buckling load is achieved and then snaps to its maximum and returns back to initial position as the crank completes a full rotation. Motion behavior of elastic members depending on the geometry and loading are investigated using Elastica theory. Kinematic analysis and dynamical model are obtained by representing the compliant pinned-pinned members as translational springs using polynomial formulation method. Mechanism behavior is also analyzed in Adams FlexView. Mechanism is built by 3D printing the flexible parts using polylactic acid (PLA). Displacement of the slider along with the deformation of buckling beams are recorded and deflection shapes are detected by machine vision measurement while the crank is subjected to complete rotation. Slider position is also recorded by a laser displacement sensor. Dynamical model results are validated by the experimental setup, machine vision measurement and Adams simulations.
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Hongkuan Lin,Ayse Tekes,Coskun Tekes 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.2
In this study, we present the design and development of a compliant multi-link hopping mechanism actuated by a single DC motor. Mechanism consists of torsional spring, two symmetrically arranged six bar mechanism connected through the bottom gears and a compliant preloaded pinned-pinned buckling beam serving as a nonlinear spring. Kinematic and dynamical analysis are performed using both Newtonian dynamics, vector closure loop equations and geometric constrains of the design to predict the motion of the mechanism. Adams simulations are performed to obtain the force-deflection curve for flexible beam and torque-angular displacement curve for flat spiral spring. Mechanism is built by 3D printing all parts using thermoplastic based polylactic acid PLA filament. Continuous hopping motion is created without requirement of any hydraulic and pneumatic actuators or mechanical springs to store and release energy during the complete motion. The actuator is connected to a 3D printed flat spiral spring to control the speed and pinned-pinned buckling beam is attached in between two symmetrical multi-link mechanism to increase the effect of impact.
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Trajectory control of planar closed chain fully compliant mechanism
Martin Garcia,Kevin McFall,Ayse Tekes 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.4
This study presents the design, analysis, dynamical modeling and control of a planar, flexure based closed chain compliant mechanism. Mechanism is designed as a single piece and comprised of rigid-flexure links connected in series. Base links of the mechanism can be actuated through two servo motors and translated along the horizontal direction using two step motors. Two servo motors are mounted on a rail-cart system and carts are equipped with belt drive to enable horizontal displacement. Dynamical model of the mechanism is derived by adapting pseudo rigid body modeling method, vector closure loop equations, Euler’s laws of motion and geometric constraints. Mechanism is 3D printed using thermoplastic polyurethane filament (TPU), motion of the mechanism is video recorded and position of the tip along with the motion of center of each links are captured using image processing. Mathematical model is simulated in Matlab Simulink and validated with the experimental data. A reference trajectory drawn within the workspace of the mechanism on iPad is successfully traced in real time using the simplified model, mirror imaging program and inverse kinematics. The proposed mechanism can be utilized as a haptic device and a compliant manipulator in industrial applications where high precision and larger workspace is desired.
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