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RISDesign of a Large Range XY Nanopositioning System
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Achieving large motion range (>1 mm) along with nanometric motion quality (<10 nm) simultaneously has been a key challenge in nanopositioning systems. Practical limitations associated with the individual physical ...
Modeling Geometric Nonlinearities in the Free Vibration of a Planar Beam Flexure With a Tip Mass
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The objective of this work is to analytically study the nonlinear dynamics of beam flexures with a tip mass undergoing large deflections. Hamilton's principle is utilized to derive the equations governing the nonlinear ...
Nonlinear Strain Energy Formulation of a Generalized Bisymmetric Spatial Beam for Flexure Mechanism Analysis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Analytical load–displacement relations for flexure mechanisms, formulated by integrating the individual analytical models of their buildingblocks (i.e., flexure elements), help in understanding the constraint characteristics ...
A Closed Form Nonlinear Model for the Constraint Characteristics of Symmetric Spatial Beams
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The constraintbased design of flexure mechanisms requires a qualitative and quantitative understanding of the constraint characteristics of flexure elements that serve as constraints. This paper presents the constraint ...
Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a systematic constraint-based analysis of the performance attributes of eight parallel kinematic articulated wrist mechanisms from the existing literature. These performance attributes include the number, ...
Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this article, we present the design of a novel ankle rehabilitation robot (ARR), called the Flex-ARR, that employs a compliant parallel kinematic mechanism (PKM) with decoupled degrees-of-freedom. While multiple ARRs ...
On the Zeros of an Undamped Three Degrees-of-Freedom Flexible System
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an investigation of zeros in the SISO dynamics of an undamped three degrees-of-freedom (3DOF) linear time invariant (LTI) flexible system. Of particular interest are non-minimum phase zeros, which ...
Improving the Step Response of Flexible Systems in the Presence of Real Nonminimum Phase Zeros
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: It is well known that real nonminimum phase (RNMP) zeros impose a tradeoff between the settling time and undershoot in the step response of flexible systems. Existing methods to alleviate this tradeoff predominantly rely ...
Modeling Complex Nonminimum Phase Zeros in Flexure Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a model to explain complex nonminimum phase (CNMP) zeros seen in the noncollocated frequency response of a large-displacement XY flexure mechanism, which employs multiple double parallelogram flexure ...
An XYZ Parallel Kinematic Flexure Mechanism With Geometrically Decoupled Degrees of Freedom
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A novel parallelkinematic flexure mechanism that provides highly decoupled motions along the three translational directions (X, Y, and Z) and high stiffness along the three rotational directions (خ¸x, خ¸y, and خ¸z) is ...