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 language | English |
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Title of host publication | Proceedings ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
Subtitle of host publication | Volume 5A: 42nd Mechanisms and Robotics Conference |
Place of Publication | Newe York, NY, USA |
Publisher | ASME |
Number of pages | 9 |
ISBN (Electronic) | 978-0-7918-5180-7 |
DOIs | |
Publication status | Published - 2018 |
Event | ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 - Quebec City, Canada Duration: 26 Aug 2018 → 29 Aug 2018 |
Conference
Conference | ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 |
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Abbreviated title | IDETC/CIE 2018 |
Country/Territory | Canada |
City | Quebec City |
Period | 26/08/18 → 29/08/18 |
Keywords
- Compliant mechanisms