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Compliant Mechanisms
Outline
Working Principal
Advantages and Disadvantages
Compliance in MEMS devices
Design and Optimization
Analysis: Static and Dynamic
Example Devices
Conclusion
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Compliant Mechanisms
Working Principle
Compliant Mechanism: A flexible structure that elastically deforms without
joints to produce a desired force or displacement.
Deflection of flexible
members to store energy in
the form of strain energy
Strain energy is same as
elastic potential energy in
in a spring
Since product of force and
displacement is a constant.
There is tradeoff between
force and displacement as
shown in fig on left.
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Compliant Mechanisms
Macro-scale Examples
Non-compliant crimp
Compliant crimp
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Non-compliant wiper
Compliant wiper
Compliant Mechanisms
No Joints
No friction or wear
Monolithic
No assembly
Works with piezoelectric, shape-memory
alloy, electro-thermal, electrostatic, fluid
pressure, and electromagnetic actuators
Disadvantages
1.
2.
3.
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Compliant Mechanisms
Features
Impact
Joint-less
Small displacements or
forces
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Compliant Mechanisms
Definitions
Geometric Advantage:
u out
GA
u in
Mechanical Advantage:
Fout
MA
Fin
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Compliant Mechanisms
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Compliant Mechanisms
Topology Synthesis
Energy Efficiency Formulation
Objective function:
work out
work in
F t u t dt
F t u t dt
out
out
in
in
Optimization Problem:
max
ai ,min ai ai ,max
V Volume
Max Re source
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Compliant Mechanisms
Geometric/Mechanical Advantage
Volume/Weight
Avoidance of buckling instabilities
Minimization of stress
concentrations
Optimization Problem:
max
ai ,min ai ai ,max
V Volume
F 1
h1 out
1
F
MA
in
FS
Max Re source
or
max
u 1
h1 out
1
u
GA
in
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Compliant Mechanisms
Stress Analysis
Size and shape refinement
Same Topology
Optimized dimensions of the
beams
Uniformity of strain energy
distribution
Methods used
Pseudo rigid-body model
Beam element model
Plane stress 2D model
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Compliant Mechanisms
Dynamic Analysis
Methods Used
FEM Tools
Dynamic characteristics
Frequency ratio vs
Displacement Ratio
Frequency ratio vs GA
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Compliant Mechanisms
HexFlex
Nanomanipulator
(Culpepper, 2003)
The Self
Retracting FullyCompliant
Bistable
Mechanism
(L. Howell, 2003)
http://www.engin.umich.edu/labs/csdl/video02.html
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Compliant Mechanisms
Contacts
Universities
Institution
Lab
Faculty
Univ. of Michigan
Sridhar. Kota
Laxman Saggere
Univ. of Penn
Computational Design
G. Ananthasuresh
MIT
Martin L. Culpepper
Topology optimization
Ole Sigmund
Larry L. Howell
Industry
FlexSys Inc
Sandia National Lab
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Compliant Mechanisms
Conclusion
Stores potential energy and outputs displacement or
force
Monolithic no joints, no assembly, no friction
Small but controlled forces or displacements
Can tailor design to performance characteristics.
Performance dependent on output
Difficult to design
Examples: HexFlex Nanomanipulator,
MicroEngine, Force Amplifier
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Compliant Mechanisms