Analysis of parasitic motion in compliant mechanisms using eigenwrenches and eigentwists

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)

Abstract

Parasitic motion is undesired in precision mechanisms, it causes unwanted kinematics. These erroneous motions are especially apparent in compliant mechanisms. Usually an analysis of parasitic motion is only valid for one type of mechanism. Kinematic information is imbedded in the compliance matrix of any mechanism; an eigenscrew decomposition expresses this kinematic information as screws. It uses screw theory to identify the lines along which a force yields a parallel translation and a rotation yields a parallel moment. These lines are called eigenwrenches and eigentwists. Any other load on the compliant mechanism will lead to parasitic motion. This article introduces two parasitic motion metrics using eigenscrew decomposition: the parasitic resultant from an applied screw and the deviation of an actual degree of freedom from a desired degree of freedom. These metrics are applicable to all compliant mechanism and allow comparison between two compliant mechanisms. These metrics are applied to some common compliant mechanisms as an example.

Original languageEnglish
Title of host publicationProceedings ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Subtitle of host publicationVolume 5A: 42nd Mechanisms and Robotics Conference
Place of PublicationNewe York, NY, USA
PublisherASME
Number of pages9
ISBN (Electronic)978-0-7918-5180-7
DOIs
Publication statusPublished - 2018
EventASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 - Quebec City, Canada
Duration: 26 Aug 201829 Aug 2018

Conference

ConferenceASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018
Abbreviated titleIDETC/CIE 2018
CountryCanada
CityQuebec City
Period26/08/1829/08/18

Keywords

  • Compliant mechanisms

Fingerprint Dive into the research topics of 'Analysis of parasitic motion in compliant mechanisms using eigenwrenches and eigentwists'. Together they form a unique fingerprint.

Cite this