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Synthesis of a Group of Mechanisms with Dual Function Depending on the Input Velocities

Zouelm, Ali | 2020

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 53395 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Fallah Rajabzadeh, Famida; Zohoor, Hassan
  7. Abstract:
  8. Compliant mechanisms are generally used in quasi-static condition and therefore system dynamics do not have a significant effect on their performance; But if the inertia of the links is high, the dynamics of the mechanism will affect its performance altogether. By cleverly designing the mechanism, these effects can be used to create new movement patterns. In this research, a family of compliant mechanisms is introduced whose movement patterns are a function of input speeds. This means that at low speeds, the flexibility of the mechanism does not have a significant effect on its performance, but when the speed exceeds a certain limit, this flexibility changes the configuration of the mechanism and creates a new movement pattern. For example, in one of the mechanisms, for low speeds, the output of the mechanism has oscillating motion and for high speeds, it has full rotational motion. Most of these mechanisms were designed based on the specific mode of the four-bar mechanism, where the sum of the lengths of the two links is equal to the sum of the lengths of the other two links. First, the idea of these mechanisms and the logic of dual function were expressed. Then the dynamic model of the mechanisms was obtained and using simulation, design parameters were selected with the aim of creating a dual function. The results show that by properly selecting the design parameters, mechanisms can be achieved that have a regular movement pattern for low input speeds and another regular movement pattern for high speeds. Of course, sometimes in the middle speeds, irregular movements are observed, which can be minimized using optimization.
  9. Keywords:
  10. Jumping Handspring Robot ; Underactuated System ; Reconfigurable Systems ; Four Bar Mechanism ; Compliant Four-Bar Mechanism ; Dual Function Depending ; Singularity

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