| Week | Dates Topics | Notes | Codes, etc. |
|
|
Module 1: Principles and Concepts | ||
| 1 |
Jan. 7, 2025:
The spirit of compliant mechanisms: an overview of compliant mechanisms and their applications.
Jan. 9, 2025: A case-study: XY-decoupling planar compliant mechanism |
Prof. Ashok Midha's thoughts on compliant mechanisms and mechanisms in general Overview of compliant mechanisms Spirit of compliant design Applications of compliant mechanisms |
Matalb codes for understanding XY-decoupler and compliant slider elastic pair mechanisms |
| 2 |
Jan. 14, 2025:
No class (Makara Sankranthi)
Jan. 16, 2025: Introducing Matlab finite element codes to analyze compliant mechanisms. Familiarization with beam finite element codes in Matlab (linear and nonlinear) In-class hands-on practice with Matla to understand how compliant mechanisms work. | Subtleties in using finite element analysis of compliant mechanisms. |
Matalb code linear finite element analysis with beams Matalb code geometrically nonlinear finite element analysis with beams |
| 3 |
Jan. 21, 2025:
Mobility analysis; how to identify the degrees of freedom and the number of required actuators Reinforcing the concept of virtual rigid segments in the extended Gurbler's formula Jan. 23, 2025: How to compute and interpret DoF of compliant mechanisms using the extended Grubler's formula Maxwell's rule and Calladine's extension |
Mobility analysis of compliant mechanisms Grubler's formula extended for compliant mechanisms |
- |
| 4 |
Jan. 28, 2025:
Degrees of freedom and states of self-stress (contd.)
Jan. 30, 2025: How to delineate DoF and SoSS using compatibility and force-equilibrium matrices of a truss. Matlab program for the mobility analysis of 2D and 3D trusses; nullspace interpretation of DoF and SoSS modes. | Delineating DoFs (degrees of freedom) and SoSSs (states of self-stress) |
Matlab code and data files for planar
truss mobility analysis (without supressing the rigid-body modes Matlab code and data files for planar truss mobility analysis (with supressed rigid-body modes |
| 5 |
Feb. 4, 2025:
More about elastic pairs; stiffness matrix of elastic pairs in 2D and 3D A case study of a micromachined accelerometer using elastic pairs Feb. 6, 2025: Synthesis Method for compliant mechanisms 1 Instant centre method of design of compliant mechanisms Examplification of the instant centre method in multiple stages for amplification of displacement or force |
Elastic pairs Micromachined accelerometers Instant center method |
3D beam fea code (linear) |
| 6 |
Feb. 11, 2025:
More on the instant-centre method of CM design: practice; and why we may not get the geomtriic advanatge in FEA (or real mechanisms)
Feb. 13, 2025: Mechanical advantage aspects of compliant mechanisms Three types of mechanical advantages and their implication |
Mechanical advanatges aspects of CMs by Salomon and Midha | |
| 7 |
Feb. 18, 2025:
Spring-lever (SL) model of compliant mechanisms for abstraction of static behaviour kci, kco, and n The equivalence with two DoF (single-input-single-output) model of CMs Feb. 20, 2025: In-class quiz for 30 min Mechanical advantage in terms of SL model parameters. | Spring-lever modeling of CMs | - |
| 8 |
Feb. 25, 2025:
Sensitivity index of Mechanical Advantage in terms of SL parameters
Feb. 27, 2025: Static balancing of constant force and a spring load; the concept of zero-free-length springs | - | - |
| 9 |
Mar. 4, 2025:
Large displacement analysis of a cantilever beam; elastica modelling using elliptic integrals
Burns and Crossley's kinematic approximation of a cantilever with a rigid bar of shortened length Howell and Midha's kinetostatic approximation of a cantilever with a rotation spring of constant stiffness Mar. 6, 2025: Design of CMs using pseudo-rigid-body (PRM) model and kinematic synthesis of linkages; kinematic coefficients and principle of virtual work |
Elastica analysis Elastica similarity analysis 1 Elastica similarity analysis 2 Pseudo-rigid-body (PRB) kinematic model Pseudo-rigid-body (PRB) kinetoelastic model |
- |
| 10 |
Mar. 11, 2025:
Kinematic coefficients and the principle of virtual work leading to force-equilibrium equaton of compliant mechanisms Synthesis Method for compliant mechanisms 2 Precision point synthesis: variables, equations, free choices Mar. 13, 2025: More on precision point synthesis of CMs with PRB | Force-equilibrium equation using PRB | - |
| 11 |
Mar. 18, 2025:
Spring-mass-lever model of a compliant mechanism
Mar. 20, 2025: Midterm examination in the class hour | Spring-mass-lever model | - |
| 12 |
Mar. 25, 2025:
Synthesis Method for compliant mechanisms 3 Selection-based design of compliant mechanisms using the SL models Mar. 27, 2025: An overview of eight design methods for compliant mechanisms; Introduction of YinSyn, the topology optimization program for compliant mechanisms | - | YinSyn: topology optimization code for compliant mechanisms and stiff structures |
| 13 |
Apr. 1, 2025:
Synthesis Method for compliant mechanisms 4 Topology optimization of compliant mechanisms Topology optimization using YinSyn; Topological gradient-based optimization of compliant mechanisms Destributed compliant mechanisms: what are they and how to obtain them Apr. 3, 2025: Synthesis Method for compliant mechanisms 5 Compliant ellipsoids, centre of elasticity, and the building-block method of compliant mechanisms. |
Topology optimization of compliant mechanisms using beam elements and mutual strain energy and strain energy formulation Topology optimization of compliant mechanisms with distributed compliance Building block method of compliant mechanisms |
- |
| 14 |
Apr. 8, 2025:
Non-dimensional models of beams undergoing large displacements Non-dimensional modeling of compliant mechanisms Synthesis Method for compliant mechanisms 6 Non-dimensional kinetoelastic map-based selection and design of compliant mechanisms. Apr. 10, 2025: Synthesis Method for compliant mechanisms 7 Beam constraint model for designing compliant mechanisms. | Non-dimensionalization of compliant mechanisms response | - |
| 15 |
Apr. 15, 2025:
Synthesis Method for compliant mechanisms 8 A Lego-like kit for designing compliant mechanisms. Advanced applications of compliant mechanisms | Comparison of several design methods of compliant mechanisms | - |