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Modelling and verification of fatigue damage for compliant mechanisms

Published online by Cambridge University Press:  03 September 2018

Changli Liu ,
Zhuming Bi ,
Jilin Ran ,
Junjie Gu ,
Xuejun Wang  and
Chris Zhang
Changli Liu
Affiliation:
School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, P. R. China. Emails: clliu@ecust.edu.cn, 1250710293@qq.com, jj.gu@foxmail.com, wxjecust@gmail.com
Zhuming Bi*
Affiliation:
Department of Civil and Mechanical Engineering, Purdue University Fort Wayne, 2101 E. Coliseum Blvd, Fort Wayne, IN 46805, USA
Jilin Ran
Affiliation:
School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, P. R. China. Emails: clliu@ecust.edu.cn, 1250710293@qq.com, jj.gu@foxmail.com, wxjecust@gmail.com
Junjie Gu
Affiliation:
School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, P. R. China. Emails: clliu@ecust.edu.cn, 1250710293@qq.com, jj.gu@foxmail.com, wxjecust@gmail.com
Xuejun Wang
Affiliation:
School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, P. R. China. Emails: clliu@ecust.edu.cn, 1250710293@qq.com, jj.gu@foxmail.com, wxjecust@gmail.com
Chris Zhang
Affiliation:
Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7V 5A9, Canada. Email: chris.zhang@usask.ca
*
*Corresponding author. E-mail: biz@pfw.edu
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Summary

This paper presents a model-based approach for the first time to identify the crack location for the hinge-based planar RRR compliant mechanism, a parallel micro-motion stage driven by piezoelectric (PZT) actuators. However, cracks more likely occur on a flexure hinge because it usually undergoes a periodic deformation in service, which eventually compromises mechanism's performance, positioning accuracy for instance. In this work, the pseudo-rigid-body method is used to develop kinematic and dynamic models of the RRR mechanism both in healthy and damaged conditions, where the crack is considered in terms of the rotational compliance of a flexible hinge. The crack location is determined by measuring PZT elongations, which represents the driving toque deviation because of the crack presence. Numerical simulation is conducted to verify the proposed approach, and the results show good match of the identified crack location with the assumed location. Finally, experiments on the RRR mechanism with a prefabricated crack is performed to further validate the proposed models; the experimental results yield a good consistence.

Keywords

Compliant mechanismFlexure hingeRobot dynamicsCrack detectionModel-based method
Type
Articles
Information
Robotica , Volume 37 , Issue 1 , January 2019 , pp. 1 - 17
Copyright
Copyright © Cambridge University Press 2018 

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