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Journal ArticleDOI

The decoupling of the Cartesian stiffness matrix in the design of microaccelerometers

Ting Zou, +1 more
- 01 May 2015 - 
- Vol. 34, Iss: 1, pp 1-21
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TLDR
In this paper, the authors resort to a decoupling technique of the Cartesian stiffness matrix, reported elsewhere, which is applied to the stiffness matrix of a class of accelerometers and reveal compliance along the sensitive axes and high off-axis stiffness, thereby satisfying the ultimate design objectives for microaccelerometers with isotropic, monolithic structure.
Abstract
The 6×6 Cartesian stiffness matrix obtained through finite element analysis for compliant mechanical structures may lead to spurious coupling that stems from discretization error. The coupling may lead, in turn, to inaccurate results of the translational and rotational displacement analysis of the structure, for which reason a reliable decoupling technique becomes essential. In this paper, the authors resort to a decoupling technique of the Cartesian stiffness matrix, reported elsewhere, which is applied to the stiffness matrix of a class of accelerometers. In doing this, the generalized eigenvalue problem is first recalled as a powerful tool that is pertinent to the design task at hand (Ding and Selig in Int. J. Mech. Sci. 46(5): 703–727, 2004). The decoupled submatrices are then investigated by means of eigenvalue analysis. As a consequence, the translational and rotational stiffness matrices can be analyzed independently. Meanwhile, the decoupled stiffness matrices reveal compliance along the sensitive axes and high off-axis stiffness, thereby satisfying the ultimate design objectives for microaccelerometers with isotropic, monolithic structure.

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Citations
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Journal ArticleDOI

On the stiffness analysis of robotic manipulators and calculation of stiffness indices

TL;DR: In this article, the authors introduced new performance indices for robotic manipulators in order to evaluate the robot stiffness at the design embodiment stage, based on the calculation of the Cartesian stiffness matrix of a manipulator based on a matrix structural analysis methodology.
Journal ArticleDOI

Dynamic fracture simulation of flexible multibody systems via coupled finite elements of ANCF and particles of SPH

TL;DR: In this paper, a parallel computation methodology is proposed to study the dynamic fracture process of a flexible multibody system with initial cracks, where the potential fracture domains of the flexible body system are described by using the particles of smoothed particle hydrodynamics (SPH), and the other domain of the system are modeled by using finite elements of absolute nodal coordinate formulation (ANCF).
Book ChapterDOI

Stiffness Optimization of Delta Robots

TL;DR: This paper focuses on the optimum dimensional synthesis, combing kinematic, dynamic and stiffness design criteria for the Delta robot, and the shape of the proximal links is optimized based on two different designs.
Journal ArticleDOI

Stiffness analysis of a planar parallel manipulator with variable platforms

TL;DR: This work investigates the stiffness characteristics of a planar parallel manipulator with variable platforms with shape variables of the base and mobile platforms to establish the stiffness model.
References
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Book

Kinematic geometry of mechanisms

TL;DR: The components of mechanism freedom and structure in mechanism elementary planar and spatial displacements planar algebraic curves infinitesimal planar kinematics planar displacements through three and more locations the four-bar linkage - coupler curves the geometrical capability of planar mechanisms three-dimensional geometry and spatial mechanism some spatial mechanisms line geometry, and spatial mechanisms screw systems screw systems applied to spatial mechanisms body guidance in three dimensions manipulator-arms and other linkageconnections.
BookDOI

Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms

Jorge Angeles
TL;DR: In this article, the authors deal with robots such as remote manipulators, multifingered hands, walking machines, flight simulators, and wheeled vehicles that rely on mechanical systems to perform their tasks.
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