Experiment design in compliant mechanisms and kinematic identification of parallel mechanisms

This article discusses a procedure for force-displacement modeling compliant mechanisms by using a design of computer experiments methodology -- This approach produces a force-displacement meta-model that is suited for real-time control of compliant mechanisms -- The term meta-model is used to represent a simplified and efficient mathematical model of unknown phenomena -- The meta-modeling of compliant mechanisms is performed from virtual experiments based on factorial- and space-filling design of experiments -- The procedure is used to model the quasi-static behavior of the HexFlex compliant mechanism -- The HexFlex is a parallel compliant mechanism for nano-manipulation that allows six degrees of freedom of its moving stage -- The meta-model of the HexFlex is calculated from experiments with the Finite Element Method (FEM) -- The obtained meta-model for the HexFlex is linear for the range of movement of the mechanism -- The accuracy of the meta-model was calculated conducting a set of computer experiments with random uniform distribution of the input forces -- Three criteria were calculated in each displacement direction (x, y, z, θx, θy, θz) comparing the meta-model prediction with respect to the results of the virtual experiments: 1. maximum of the absolute value of the error, 2. relative error, and 3. root mean square error -- The maximum errors were founded adequate with respect to demanding manufacturing tolerances (absolute errors) and lower than errors reported by other authors (relative errors)

• Autores: Restrepo Arango, David
• Fecha de publicación: 2010
• Institución: Universidad EAFIT
• Repositorio: Repositorio EAFIT
• Idioma: spa
• OAI Identifier: oai:repository.eafit.edu.co:10784/7234
• Acceso en línea: http://hdl.handle.net/10784/7234
• Palabra clave: Metamodelos; Cinemática inversa; Ángulos de Euler; Deformación elástica; Deformaciones cuasi-estáticas; CINEMÁTICA; MOVIMIENTOS MECÁNICOS; MÉTODO DE ELEMENTOS FINITOS; DEFORMACIONES; ANÁLISIS NUMÉRICO; ALGORITMOS(COMPUTADORES); Kinematics; Mechanical movements; Finite element method; Numerical analysis; Computer algorithms
• License: Acceso abierto