Microactuators and Micromechanisms (eBook)

Preface 6
Contents 8
1 Study on Polymer-Made 3DOF Spatial Parallel Manipulator 10
Abstract 10
1 Introduction 10
2 Polymer–Made Revolute Hinges 11
2.1 Fatigue Test Under a Static Tensile Load and Repeated Bending 11
2.2 Polymer-Made 2DOF Planar Pantograph Mechanism and Polymer-Made 3DOF Planar Mechanism 12
3 Polymer–Made Spherical Hinges 13
3.1 FEM Analysis of Polymer-Made S Hinge 14
3.2 Fatigue Test of S Hinge 15
4 Polymer-Made 3DOF Spatial Parallel Manipulator 17
4.1 Mechanism Synthesis 17
4.2 Mechanism Parameters and Discussion 18
4.3 Displacement Analysis and Joint Force Analysis of the 3DOF Parallel Manipulator 18
4.4 Polymer-Made 3DOF Parallel Manipulator 19
5 Conclusion 22
Acknowledgments 23
References 23
2 Miniaturization of Check Valves 24
Abstract 24
1 Introduction 24
2 Poperies of a Ball Check Valve 25
3 System Requirements for a New Valve 27
4 Development of a New Compliant Valve 28
4.1 Design Variants of the Spring Layer 29
4.2 Comparison of Mounting Volumes 31
4.3 Functional Comparison of the Valve Types 32
5 Conclusion and Outlook 34
References 35
3 A Biologically Inspired Sensor Mechanism for Amplification of Tactile Signals Based on Parametric Resonance 36
Abstract 36
1 Introduction 37
2 Theoretical Analysis 39
2.1 Geometry and Assumptions of the Model 39
2.2 Equation of Motion and Its Approximation 40
3 Parametric Resonance 42
3.1 Procedure of Averaging 42
3.2 Region of the Principal Parametric Resonance 43
4 Numerical Analysis and Results 43
4.1 Remarks on the Simulations 44
4.2 Regions of the Parametric Resonance 45
5 Conclusions 46
Acknowledgments 46
References 46
4 Towards the Development of Tactile Sensors for Determination of Static Friction Coefficient to Surfaces 48
Abstract 48
1 Introduction 48
2 State of the Art 49
3 Aim and Scope 49
4 Modeling 50
5 Simulation and Experiment 52
6 Conclusions 56
References 56
5 Development and Investigation of Photoelastic Sensor for Torque Measurement 58
Abstract 58
1 Introduction 58
1.1 Working Principle of Photoelastic Torque Sensors 59
1.2 Theoretical Background 60
2 FEM Analysis of the Motor 61
3 FEM Analysis of the Sensor 62
4 Measurement of Starting Torque 63
4.1 Measurement Arrangement 63
4.2 Calibration, Measurement and Results 63
5 Conclusions 65
References 65
6 Flexural Body for a Wireless Force/Displacement Sensor 67
Abstract 67
1 Introduction 67
2 Design of Sensor Mechanisms 69
2.1 Functional Requirements 69
2.2 Proposed Compliant Structures 70
2.3 Stiffness Analysis 71
3 Conclusions 73
Acknowledgments 73
References 74
7 Capsule Micromechanism Driven by Impulse—Wireless Implementation 75
Abstract 75
1 Introduction 75
2 Structure and Principle of the Traveling Capsule 76
2.1 Structure of the Capsule 76
2.2 Theoretical Analysis 79
3 Implementation 80
3.1 Control Circuit 81
3.2 Experiments and Results 82
4 Medicine Releasing Mechanism for the Capsule 83
5 Goal of the Capsule 84
6 Summary 85
Acknowledgments 85
References 85
8 Development of Peristaltically Propelled Active Catheter Used in Radial Artery 86
Abstract 86
1 Introduction 86
2 Principle of Movement of Active Catheters 87
3 Development of Active Catheter System 89
3.1 Structure of Active Catheter 89
3.2 Mechanisms of Pressure Feeding and Aspiration of Fluid 90
4 Driving Experiment Using Silicon Tubes 92
4.1 Outline of Experiment 92
4.2 Experimental Setup 92
4.3 Experimental Method 92
4.4 Results 92
5 Driving Experiment Using an Endovascular Surgery Simulator 94
5.1 Outline of Experiment 94
5.2 Experimental Method 94
5.3 Results 95
6 Discussion 96
7 Conclusion 96
Acknowledgments 96
References 96
9 Locomotion Principles for Microrobots Based on Vibrations 98
Abstract 98
1 Introduction 99
2 Locomotion Principles 100
2.1 Nature Inspiration 100
2.2 Vibration Driven Locomotion 100
3 Locomotion Based on Low and High Frequency Vibration Drives 102
3.1 Quasi-static Mobile Robots 102
3.2 Resonant Mobile Robots 103
4 Multidirectional Resonant Robots 104
4.1 Prototype Design 104
4.2 Motion Principle and Control 105
4.3 Modeling and Simulation 106
5 Conclusions 107
Acknowledgments 107
References 107
10 Exploration of Carbon-Filled Carbon Nanotube Vascular Stents 110
Abstract 110
1 Introduction 111
2 Design Exploration 112
2.1 Auxetic Stent Design 113
2.2 Maximum Force Stent Design 113
3 Optimization 114
3.1 Auxetic Stent Optimization 114
3.2 Maximum Force Stent Optimization 114
4 Fabrication and Testing 115
4.1 Fabrication 116
4.2 Fixture Design and Testing Procedure 116
4.3 Cylindrical Stent Fabrication 117
4.4 Arterial Response 118
5 Discussion 119
6 Conclusions and Recommendations 120
Acknowledgments 120
References 120
11 A Novel Gripper Based on a Compliant Multistable Tensegrity Mechanism 122
Abstract 122
1 Introduction 123
2 Theory 124
2.1 Equilibrium Configurations 125
2.2 Gripper Arm Design 126
2.3 Actuation 128
3 Experiments 130
4 Conclusions 132
Acknowledgments 132
References 133
12 Selection of the Optimal Rigid-Body Counterpart Mechanism in the Compliant Mechanism Synthesis Procedure 134
Abstract 134
1 Introduction 135
2 Rigid-Body Linkages for Rectilinear Guiding 135
2.1 Hoecken Four-Bar Linkage 136
2.2 Roberts-Tsebysev Four-Bar Linkage 137
2.3 Watt Four-Bar Linkage 137
2.4 Evans Four-Bar Linkage 138
2.5 Scott-Russel Mechanism 139
2.6 Discussion 140
3 Compliant Hoecken Mechanism 141
4 Conclusions 144
References 145
13 Design and Experimental Characterization of a Flexure Hinge-Based Parallel Four-Bar Mechanism for Precision Guides 146
Abstract 146
1 Introduction 147
2 Motion Task 147
3 Synthesis of the Compliant Linkage Mechanism 148
3.1 Rigid-Body Mechanism 149
3.2 Compliant Mechanism 150
3.3 Deployment of Design Guidelines for Flexure Hinge Contour Optimization 151
4 Simulative Investigations of the Parallel Mechanism 153
4.1 Rigid-Body Simulation 153
4.2 FEM Simulation 154
5 Measurements of Parallel Mechanism Prototypes 155
5.1 Linear Deviation and Path Deviation of the Coupler 156
5.2 Rotation of the Coupler 158
6 Conclusion and Outlook 158
Acknowledgments 159
References 159
14 Dynamic Model of a Compliant 3PRS Parallel Mechanism for Micromilling 160
Abstract 160
1 Introduction 160
2 Dynamic Analysis 162
2.1 Compliant 3PRS Description and Hypotheses 163
2.2 Actuated Plates 163
2.3 Platform Translational Dynamics 164
2.4 Platform Rotational Dynamics 165
2.5 Legs 167
2.6 Dynamic Model of the Manipulator 168
2.7 Joints Stiffness 169
3 Experimental Validation 169
4 Conclusions 171
Acknowledgments 171
References 171
15 Dynamic Analysis of a Fatigue Test Bench for High Precision Flexure Hinges 172
Abstract 172
1 Introduction 172
2 Analytical Investigation 175
2.1 Kinematics 175
2.2 Kinetics 176
3 Results 179
4 Conclusions 182
Acknowledgments 182
References 183
16 Self-setting Locks for Petal Type Deployable Space Reflector 184
Abstract 184
1 Introduction 184
2 Classical Design of Petal Type Reflector 185
3 New Design of Petal Type Reflector 186
4 Self-setting Locks and Deployment Repeatability 189
5 Conclusions 193
References 194
17 Monolithic and Statically Balanced Rotational Power Transmission Coupling for Parallel Axes 195
Abstract 195
1 Introduction 195
2 Theoretical Model 197
2.1 Rigid-Body Oldham Coupling 197
2.2 Pseudo Rigid-Body Model and Static Balancing Conditions 198
2.3 Compliant Design 199
3 Model Validation 199
3.1 Fabrication 199
3.2 Experimental Evaluation 201
4 Conclusions 203
References 203
18 Investigation of the Novelty Brackets “Gold-S” 205
Abstract 205
1 Introduction 206
2 Function of the Bracket “Gold-S” 207
3 Modeling of the Brackets “Gold-S” 208
3.1 Geometry and Material of the Brackets “Gold-S” 208
3.2 Groundwork and Boundary Conditions 210
3.3 Improvement of Compliant Mechanism Geometry 211
4 Results of Modeling 211
5 Experimental Investigations 212
5.1 Materials and Methods 213
5.2 Experimental Investigation of the Compliant Mechanisms 214
5.3 Results of the Experimental Investigation 214
6 Discussion 215
7 Conclusion and Outlook 216
References 216
19 Dynamic Behavior of Active Lightweight Compliant Mechanisms with Integrated Piezoceramic Actuators by Under- and Overcritical Periodic Excitation 218
Abstract 218
1 Introduction 219
2 Investigated Structure 219
3 Equivalent Two-Layered Pseudo Rigid Body Active Model Cell 220
4 Analytic Dynamics Study of an Actuating Layer 222
5 Dynamic Simulation of a Multi Body System 224
6 Experimental Investigation on an ACM Demonstrator 226
7 Comparison Between Simulation and Experimental Results 227
8 Conclusions 229
Acknowledgments 229
References 230
20 Synthesis of Compliant Mechanisms With Defined Kinematics 231
Abstract 231
1 Introduction 231
2 Design Problem 233
3 Optimization Formulation 236
4 Implementation 238
5 Problem Statement of Design Examples 238
6 Results and Discussion 239
7 Conclusion and Future Work 241
References 241
21 A Concept of Adaptive Two Finger Gripper with Embedded Actuators 243
Abstract 243
1 Introduction 244
2 Synthesis Methodology for Adaptive Compliant Gripper with Embedded Actuators 246
3 Analysis of Behavior of the Adaptive Compliant Gripper with Embedded Actuators 248
4 Conclusions 253
Acknowledgments 253
References 253
22 Implementation of Self Contact in Path Generating Compliant Mechanisms 255
Abstract 255
1 Compliant Mechanisms 256
2 Motivation 257
3 Continuum Discretization and Negative Circular Masks 257
4 Boundary Smoothing and Finite Element Formulation 258
4.1 Boundary Smoothing 258
4.2 Finite Element Formulation 259
5 Contact Modeling and Analysis 259
5.1 Normal Contact 260
5.2 Contact Discretization 261
6 Synthesis Example 262
7 Conclusion 264
References 264
23 Erratum to: Dynamic Analysis of a Fatigue Test Bench for High Precision Flexure Hinges 266
Erratum to:& #6