Microactuators and Micromechanisms 1st Edition by Lena Zentner,Brian Jensen,Burkhard Corves,Erwin Christian Lovasz 9783319453873 3319453874

1 Study on Polymer-Made 3DOF Spatial Parallel Manipulator

Abstract

1 Introduction

2 Polymer–Made Revolute Hinges

2.1 Fatigue Test Under a Static Tensile Load and Repeated Bending

2.2 Polymer-Made 2DOF Planar Pantograph Mechanism and Polymer-Made 3DOF Planar Mechanism

3 Polymer–Made Spherical Hinges

3.1 FEM Analysis of Polymer-Made S Hinge

3.2 Fatigue Test of S Hinge

4 Polymer-Made 3DOF Spatial Parallel Manipulator

4.1 Mechanism Synthesis

4.2 Mechanism Parameters and Discussion

4.3 Displacement Analysis and Joint Force Analysis of the 3DOF Parallel Manipulator

4.4 Polymer-Made 3DOF Parallel Manipulator

5 Conclusion

Acknowledgments

References

2 Miniaturization of Check Valves

Abstract

1 Introduction

2 Poperies of a Ball Check Valve

3 System Requirements for a New Valve

4 Development of a New Compliant Valve

4.1 Design Variants of the Spring Layer

4.2 Comparison of Mounting Volumes

4.3 Functional Comparison of the Valve Types

5 Conclusion and Outlook

References

3 A Biologically Inspired Sensor Mechanism for Amplification of Tactile Signals Based on Parametric

Abstract

1 Introduction

2 Theoretical Analysis

2.1 Geometry and Assumptions of the Model

2.2 Equation of Motion and Its Approximation

3 Parametric Resonance

3.1 Procedure of Averaging

3.2 Region of the Principal Parametric Resonance

4 Numerical Analysis and Results

4.1 Remarks on the Simulations

4.2 Regions of the Parametric Resonance

5 Conclusions

Acknowledgments

References

4 Towards the Development of Tactile Sensors for Determination of Static Friction Coefficient to Sur

Abstract

1 Introduction

2 State of the Art

3 Aim and Scope

4 Modeling

5 Simulation and Experiment

6 Conclusions

References

5 Development and Investigation of Photoelastic Sensor for Torque Measurement

Abstract

1 Introduction

1.1 Working Principle of Photoelastic Torque Sensors

1.2 Theoretical Background

2 FEM Analysis of the Motor

3 FEM Analysis of the Sensor

4 Measurement of Starting Torque

4.1 Measurement Arrangement

4.2 Calibration, Measurement and Results

5 Conclusions

References

6 Flexural Body for a Wireless Force/Displacement Sensor

Abstract

1 Introduction

2 Design of Sensor Mechanisms

2.1 Functional Requirements

2.2 Proposed Compliant Structures

2.3 Stiffness Analysis

3 Conclusions

Acknowledgments

References

7 Capsule Micromechanism Driven by Impulse—Wireless Implementation

Abstract

1 Introduction

2 Structure and Principle of the Traveling Capsule

2.1 Structure of the Capsule

2.2 Theoretical Analysis

3 Implementation

3.1 Control Circuit

3.2 Experiments and Results

4 Medicine Releasing Mechanism for the Capsule

5 Goal of the Capsule

6 Summary

Acknowledgments

References

8 Development of Peristaltically Propelled Active Catheter Used in Radial Artery

Abstract

1 Introduction

2 Principle of Movement of Active Catheters

3 Development of Active Catheter System

3.1 Structure of Active Catheter

3.2 Mechanisms of Pressure Feeding and Aspiration of Fluid

4 Driving Experiment Using Silicon Tubes

4.1 Outline of Experiment

4.2 Experimental Setup

4.3 Experimental Method

4.4 Results

5 Driving Experiment Using an Endovascular Surgery Simulator

5.1 Outline of Experiment

5.2 Experimental Method

5.3 Results

6 Discussion

7 Conclusion

Acknowledgments

References

9 Locomotion Principles for Microrobots Based on Vibrations

Abstract

1 Introduction

2 Locomotion Principles

2.1 Nature Inspiration

2.2 Vibration Driven Locomotion

3 Locomotion Based on Low and High Frequency Vibration Drives

3.1 Quasi-static Mobile Robots

3.2 Resonant Mobile Robots

4 Multidirectional Resonant Robots

4.1 Prototype Design

4.2 Motion Principle and Control

4.3 Modeling and Simulation

5 Conclusions

Acknowledgments

References

10 Exploration of Carbon-Filled Carbon Nanotube Vascular Stents

Abstract

1 Introduction

2 Design Exploration

2.1 Auxetic Stent Design

2.2 Maximum Force Stent Design

3 Optimization

3.1 Auxetic Stent Optimization

3.2 Maximum Force Stent Optimization

4 Fabrication and Testing

4.1 Fabrication

4.2 Fixture Design and Testing Procedure

4.3 Cylindrical Stent Fabrication

4.4 Arterial Response

5 Discussion

6 Conclusions and Recommendations

Acknowledgments

References

11 A Novel Gripper Based on a Compliant Multistable Tensegrity Mechanism

Abstract

1 Introduction

2 Theory

2.1 Equilibrium Configurations

2.2 Gripper Arm Design

2.3 Actuation

3 Experiments

4 Conclusions

Acknowledgments

References

12 Selection of the Optimal Rigid-Body Counterpart Mechanism in the Compliant Mechanism Synthesis Pr

Abstract

1 Introduction

2 Rigid-Body Linkages for Rectilinear Guiding

2.1 Hoecken Four-Bar Linkage

2.2 Roberts-Tsebysev Four-Bar Linkage

2.3 Watt Four-Bar Linkage

2.4 Evans Four-Bar Linkage

2.5 Scott-Russel Mechanism

2.6 Discussion

3 Compliant Hoecken Mechanism

4 Conclusions

References

13 Design and Experimental Characterization of a Flexure Hinge-Based Parallel Four-Bar Mechanism for

Abstract

1 Introduction

2 Motion Task

3 Synthesis of the Compliant Linkage Mechanism

3.1 Rigid-Body Mechanism

3.2 Compliant Mechanism

3.3 Deployment of Design Guidelines for Flexure Hinge Contour Optimization

4 Simulative Investigations of the Parallel Mechanism

4.1 Rigid-Body Simulation

4.2 FEM Simulation

5 Measurements of Parallel Mechanism Prototypes

5.1 Linear Deviation and Path Deviation of the Coupler

5.2 Rotation of the Coupler

6 Conclusion and Outlook

Acknowledgments

References

14 Dynamic Model of a Compliant 3PRS Parallel Mechanism for Micromilling

Abstract

1 Introduction

2 Dynamic Analysis

2.1 Compliant 3PRS Description and Hypotheses

2.2 Actuated Plates

2.3 Platform Translational Dynamics

2.4 Platform Rotational Dynamics

2.5 Legs

2.6 Dynamic Model of the Manipulator

2.7 Joints Stiffness

3 Experimental Validation

4 Conclusions

Acknowledgments

References

15 Dynamic Analysis of a Fatigue Test Bench for High Precision Flexure Hinges

Abstract

1 Introduction

2 Analytical Investigation

2.1 Kinematics

2.2 Kinetics

3 Results

4 Conclusions

Acknowledgments

References

16 Self-setting Locks for Petal Type Deployable Space Reflector

Abstract

1 Introduction

2 Classical Design of Petal Type Reflector

3 New Design of Petal Type Reflector

4 Self-setting Locks and Deployment Repeatability

5 Conclusions

References

17 Monolithic and Statically Balanced Rotational Power Transmission Coupling for Parallel Axes

Abstract

1 Introduction

2 Theoretical Model

2.1 Rigid-Body Oldham Coupling

2.2 Pseudo Rigid-Body Model and Static Balancing Conditions

2.3 Compliant Design

3 Model Validation

3.1 Fabrication

3.2 Experimental Evaluation

4 Conclusions

References

18 Investigation of the Novelty Brackets “Gold-S”

Abstract

1 Introduction

2 Function of the Bracket “Gold-S”

3 Modeling of the Brackets “Gold-S”

3.1 Geometry and Material of the Brackets “Gold-S”

3.2 Groundwork and Boundary Conditions

3.3 Improvement of Compliant Mechanism Geometry

4 Results of Modeling

5 Experimental Investigations

5.1 Materials and Methods

5.2 Experimental Investigation of the Compliant Mechanisms

5.3 Results of the Experimental Investigation

6 Discussion

7 Conclusion and Outlook

References

19 Dynamic Behavior of Active Lightweight Compliant Mechanisms with Integrated Piezoceramic Actuator

Abstract

1 Introduction

2 Investigated Structure

3 Equivalent Two-Layered Pseudo Rigid Body Active Model Cell

4 Analytic Dynamics Study of an Actuating Layer

5 Dynamic Simulation of a Multi Body System

6 Experimental Investigation on an ACM Demonstrator

7 Comparison Between Simulation and Experimental Results

8 Conclusions

Acknowledgments

References

20 Synthesis of Compliant Mechanisms With Defined Kinematics

Abstract

1 Introduction

2 Design Problem

3 Optimization Formulation

4 Implementation

5 Problem Statement of Design Examples

6 Results and Discussion

7 Conclusion and Future Work

References

21 A Concept of Adaptive Two Finger Gripper with Embedded Actuators

Abstract

1 Introduction

2 Synthesis Methodology for Adaptive Compliant Gripper with Embedded Actuators

3 Analysis of Behavior of the Adaptive Compliant Gripper with Embedded Actuators

4 Conclusions

Acknowledgments

References

22 Implementation of Self Contact in Path Generating Compliant Mechanisms

Abstract

1 Compliant Mechanisms

2 Motivation

3 Continuum Discretization and Negative Circular Masks

4 Boundary Smoothing and Finite Element Formulation

4.1 Boundary Smoothing

4.2 Finite Element Formulation

5 Contact Modeling and Analysis

5.1 Normal Contact

5.2 Contact Discretization

6 Synthesis Example

7 Conclusion

References

23 Erratum to: Dynamic Analysis of a Fatigue Test Bench for High Precision Flexure Hinges