Hostname: page-component-cd9895bd7-gbm5v Total loading time: 0 Render date: 2024-12-23T14:32:01.978Z Has data issue: false hasContentIssue false
  • English
  • Français

Modelling and verification of fatigue damage for compliant mechanisms

Published online by Cambridge University Press:  03 September 2018

Changli Liu ,
Zhuming Bi ,
Jilin Ran ,
Junjie Gu ,
Xuejun Wang  and
Chris Zhang
Changli Liu
Affiliation:
School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, P. R. China. Emails: [email protected], [email protected], [email protected], [email protected]
Zhuming Bi*
Affiliation:
Department of Civil and Mechanical Engineering, Purdue University Fort Wayne, 2101 E. Coliseum Blvd, Fort Wayne, IN 46805, USA
Jilin Ran
Affiliation:
School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, P. R. China. Emails: [email protected], [email protected], [email protected], [email protected]
Junjie Gu
Affiliation:
School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, P. R. China. Emails: [email protected], [email protected], [email protected], [email protected]
Xuejun Wang
Affiliation:
School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, P. R. China. Emails: [email protected], [email protected], [email protected], [email protected]
Chris Zhang
Affiliation:
Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7V 5A9, Canada. Email: [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a model-based approach for the first time to identify the crack location for the hinge-based planar RRR compliant mechanism, a parallel micro-motion stage driven by piezoelectric (PZT) actuators. However, cracks more likely occur on a flexure hinge because it usually undergoes a periodic deformation in service, which eventually compromises mechanism's performance, positioning accuracy for instance. In this work, the pseudo-rigid-body method is used to develop kinematic and dynamic models of the RRR mechanism both in healthy and damaged conditions, where the crack is considered in terms of the rotational compliance of a flexible hinge. The crack location is determined by measuring PZT elongations, which represents the driving toque deviation because of the crack presence. Numerical simulation is conducted to verify the proposed approach, and the results show good match of the identified crack location with the assumed location. Finally, experiments on the RRR mechanism with a prefabricated crack is performed to further validate the proposed models; the experimental results yield a good consistence.

Keywords

Compliant mechanismFlexure hingeRobot dynamicsCrack detectionModel-based method
Type
Articles
Information
Robotica , Volume 37 , Issue 1 , January 2019 , pp. 1 - 17
Copyright
Copyright © Cambridge University Press 2018 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Howell, L., “Compliant Mechanisms,” (Brigham Young University Department Mechanical Engineering, John Wiley & Sons, Provo, Utah 84602 USA, 2001).Google Scholar
2. Friedrich, R., Lammering, R. and Rosner, M., “On the modelling of flexure hinge mechanisms with finite beam elements of variable cross section,” Precis. Eng. 38 (4), 915–920 (2014).Google Scholar
3. Cao, L., Dolovich, A. and Zhang, W. J., “On understanding of design problem formulation for compliant mechanisms through topology optimization,” Int. J. Mech. Sci. 4 (2), 357–369 (2013).Google Scholar
4. Noveanu, S., Lobontiu, N., Lazaro, J. and Mandru, D., “Substructure compliance matrix model of planar branched flexure-hinge mechanisms: Design, testing and characterization of a gripper,” Mech. Mach. Theory 91, 1–20 (2015).Google Scholar
5. Handley, D. C., Zhang, W. J., Lu, T. F. and Zhao, W., “Multiple Degree of Freedom Compliant Mechanism Possessing Nearly Uncoupled Dynamics: Experimental Findings,” In: International Symposium on Smart Material, Nano-, and Micro-Smart Systems (2002) pp. 168–176.Google Scholar
6. Lai, L. J. and Zhu, Z. N., “Modelling and Analysis of Bridge-Type Compliant Mechanism with Elliptical Shell,” In: 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP), Nanjing, 2016, pp. 1–6. doi: doi:10.1109/M2VIP.2016.7827328.Google Scholar
7. Roveda, L., Pedrocchi, N., Vicentini, F. and Tosatti, L. Molinari, “Industrial compliant robot bases in interaction tasks: A force tracking algorithm with coupled dynamics compensation,” Robotica 35 (8), 1732–1746. doi:doi:10.1017/S0263574716000461, (2017).Google Scholar
8. Dirksen, F. and Lammering, R., “On mechanical properties of planar flexure hinges of compliant mechanisms,” Int. J. Mech. Sci. 2 (1), 109–117 (2011).Google Scholar
9. Zhang, W. J. and Lin, Y., “On the principle of design of resilient systems-application to enterprise information systems,” Enterp. Inf. Syst. 4 (2), 99–110 (2010).Google Scholar
10. Zhang, W. J. and Van, C. A. Luttervelt, “Toward a resilient manufacturing system,” Cirp. Ann-Mauf. Techn. 60 (1), 469–472 (2011).Google Scholar
11. Sun, Z. H., Yang, G. S., Zhang, B. and Zhang, W. J., “On the Concept of Resilient Machine,” In: Proceedings of the IEEE Conference on Industrial Electronics and Application (2011) pp. 357–360.Google Scholar
12. Hara, A. and Sugimoto, K., “Synthesis of parallel micromanipulators,” J. Mech. Des. 111 (1), 34–39 (1989).Google Scholar
13. Bi, Z. M. and Mueller, D., “Finite element analysis for diagnosis of fatigue failure of composite materials in product development,” Int. J. Adv. Manuf. Technol. 87 (5–8), 1–13 (2016).Google Scholar
14. Dattoma, V., Ganache, S., Nobile, R. and Panella, F. W., “Fatigue life prediction under variable loading based on a new non-linear continuum damage mechanics model,” Int. J. Fatigue 28 (2), 89–95 (2006).Google Scholar
15. Nie, S., Li, Y., Shuai, G., Tao, S. and Xi, F., “Modelling and simulation of fatigue life analysis of robots with flexible joints under percussive impact forces,” Robot. Comput.-Integr. Manuf. 37, 292–301 (2016).Google Scholar
16. Zaheer, M. M. and Islam, N., “Reliability analysis of universal joint of a compliant platform,” Fatigue Fract. Eng. M. 33 (7), 408–419 (2010).Google Scholar
17. Wang, T. M. and Chen, C. H., “Fatigue Analysis of Wrist Joint Part of Six-Axis Articulated Robot,” In: 14th IFToMM World Congress (2015) pp. 104–107.Google Scholar
18. Du, Z. C., Yu, Y. Q. and Su, L. Y., “Analysis of Dynamic Stress and Fatigue Property of Flexible Robots,” In: Proceedings of the 2006 IEEE International Conference on Robotics and Biomimetics (2006) pp. 1351–1355.Google Scholar
19. Isermann, R., “Fault Detection and Diagnosis – Methods and Applications,” 2nd International Symposium on Acoustical and Vibratory Surveillance Methods and Diagnostic Techniques (1995) pp. 777–797.Google Scholar
20. Bachschmid, N., Pennacchi, P. and Tanzi, E., Cracked Rotors: A Survey on Static and Dynamic Behaviour Including Modelling and Diagnosis (Springer-Verlag, Berlin, 2010) vol. 40 (2), pp. 805–806.Google Scholar
21. Bachschmid, N., Pennacchi, P. and Tanzi, E., “Identification of transverse crack position and depth in rotor systems,” Meccanica 35 (6) 563–582 (2000).Google Scholar
22. Sekhar, A. S., “Crack identification in a rotor system: A model-based approach,” J. Sound Vib. 270 (4–5), 887–902 (2004).Google Scholar
23. Gu, J. J., Liu, C. L., Wang, X. J. and Hu, S. Z., “Crack Detection Method on Flexure Hinges of 3-RRR Compliant Mechanism,” In: International Conference on Intelligent Systems Research and Mechatronics Engineering (2015) pp. 1551–1555.Google Scholar
24. Wang, X. J., Liu, C. L., Gu, J. J. and Zhang, W. J., “A parametric model for rotational compliance of a cracked right circular flexure hinge,” Int. J. Mech. Sci. 94–95, 168–173 (2015).Google Scholar
25. Yong, Y. K., Lu, T. and Handley, D. C., “Loop Closure Theory in Deriving Linear and Simple Kinematic Model for a 3-DOF Parallel Micromanipulator,” In: Proceedings of SPIE International Symposium on Microelectronic, MEMS, and Nanotechnology (2003) pp. 57–66.Google Scholar
26. Zou, J., Kinematic, Dynamics, and Control of Particular Micro-motion System (University of Saskatchewan: Saskatoon, Canada, 2000).Google Scholar
27. Schotborgh, W. O., Kokkeler, F. G. M. and Tragter, H., “Dimensionless design graphs for flexure elements and a comparison between three flexure elements,” Precis. Eng. 29 (1), 41–47 (2005).Google Scholar