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Course11210821171 lectures

Compliant Mechanisms: Principles and Design

Prof. G. K. Ananthasuresh · IISc Bangalore

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About

This course introduces the concept and principles of compliant mechanisms and presents the design methods in detail. Various applications of compliant mechanisms in consumer products, microsystems, aerospace, automotive, and biomedical industries will be touched upon throughout the course. It is a comprehensive treatment of the growing field of compliant mechanisms starting from the classics and basics and ending with the state of the art.

Intended audience: Fourth year UG and PG level

Prerequisites: Preferred - Kinematics; finite element analysis; optimization theory

Lectures

Week 1 Overview of compliant mechanisms; mobility analysis

  1. Overview YouTube
  2. Spirit of compliant design YouTube
  3. A glimpse of applications YouTube
  4. Mobility and degrees of freedom in compliant mechanisms YouTube
  5. Maxwell’s rule and Grübler’s formula YouTube
  6. Using compatibility and force equilibrium matrices to identify degrees of freedom and states of self-stress in trusses YouTube

Week 2 Modeling of flexures and finite element analysis

  1. Empirical formula for flexure joints YouTube
  2. Types of elastic pairs (flexures) YouTube
  3. Linear finite element analysis of compliant mechanisms with beam elements YouTube
  4. A compliant mechanism kit YouTube
  5. Linear and nonlinear finite element analyses using continuum elements YouTube
  6. Subtleties in finite element analysis: geometric nonlinearity and contact YouTube

Week 3 Large-displacement analysis of a cantilever beam and pseudo rigid-body modeling

  1. Deformation of a cantilever under a tip-load, using elliptic integrals YouTube
  2. Elliptic integrals and their use in elastica analysis YouTube
  3. Frisch-Fay’s approach to large deformation of beam YouTube
  4. Burns-Crossley’s kinematic model YouTube
  5. Howell-Midha’s elastic model YouTube
  6. Putting together the pseudo rigid-body model YouTube

Week 4 Analysis and synthesis using pseudo rigid-body models

  1. Modeling a partially compliant mechanism YouTube
  2. Kinematic coefficients of a four-bar linkage with and without springs YouTube
  3. Solving equations of PRB modeling and comparing with finite element analysis YouTube
  4. Loop-closure equations for PRB models of compliant mechanisms YouTube
  5. Burmester theory for compliant mechanisms YouTube
  6. PRB-based Synthesis Examples YouTube

Week 5 Structural optimization approach to “design for deflection” of compliant mechanisms

  1. Structural optimization approach YouTube
  2. Early works on design for compliance YouTube
  3. Design for deflection of trusses YouTube
  4. Design for deflection of beams and frames YouTube
  5. Design of elastic continua for desired deflection YouTube
  6. Continuum element-based topology optimization of compliant mechanisms YouTube

Week 6 Designing compliant mechanisms using continuum topology optimization; distributed compliance

  1. YinSyn; synthesis of nonlinear responses with compliant mechanisms YouTube
  2. Five different formulations for compliant mechanism design and some benchmark problems YouTube
  3. How to achieve distributed compliance YouTube
  4. Shape optimization YouTube
  5. Cam-flexure clamp-case-study YouTube

Week 7 Spring-lever (SL) and spring-mass-lever (SML) models for compliant mechanisms, and selection maps

  1. SL model for compliant mechanisms YouTube
  2. Feasibility maps for compliant mechanisms YouTube
  3. Selection of compliant mechanisms for given user-specifications YouTube
  4. Two case-studies using feasibility maps technique YouTube
  5. SML model for compliant mechanisms for dynamic response YouTube
  6. Re-design of compliant mechanisms; Matlab and Java codes YouTube

Week 8 Non-dimensional analysis of compliant mechanisms and kinetoelastic maps

  1. Non-dimensional analysis of beams YouTube
  2. Deformation index and slenderness ratio of compliant mechanisms YouTube
  3. Kinetoelastostatic maps YouTube
  4. Designing with kinetoelastic maps YouTube
  5. Non-dimensinalization of stress, frequency, and other measures YouTube
  6. Designing compliant suspensions using kinetoelastic maps YouTube

Week 9 Instant centre and building-block methods for designing compliant mechanisms

  1. Instant centre method for designing compliant mechanisms YouTube
  2. Stiffness and compliance ellipsoids YouTube
  3. Building block method of designing compliant mechanisms YouTube
  4. Comparative analysis of different methods for designing compliant mechanisms YouTube
  5. Aspects of Mechanical advantage of compliant mechanisms YouTube
  6. Mechanical advantage of rigid-body and compliant mechanisms YouTube

Week 10 Bistable compliant mechanisms and static balancing of compliant mechanisms

  1. Bistability in elastic systems YouTube
  2. Analysis of bistable arches YouTube
  3. Compliant mechanisms with bistable arches YouTube
  4. Static balancing and zero-free-length springs YouTube
  5. Static balance of a compliant mechanism using a linkage YouTube
  6. Static balancing method for compliant mechanisms YouTube

Week 11 Compliant mechanisms and microsystems; materials and prototyping of compliant mechanisms

  1. A catalogue of compliant mechanisms YouTube
  2. Compliant suspension mechanism in microsystems (MEMS) YouTube
  3. Micromechanical signal processors using compliant mechanisms YouTube
  4. A few special concepts of compliant mechanisms YouTube
  5. Materials and prototyping of compliant mechanisms YouTube
  6. Summary of the course YouTube

Week 12 Six case-studies of compliant mechanisms

  1. Micromachined accelerometers with Displacement-amplifying Compliant Mechanisms (DaCMs) YouTube
  2. Miniature compliant mechanisms as cell-manipulation tools YouTube
  3. Micro-newton force sensor YouTube
  4. Compliant tissue cutting mechanism YouTube
  5. A compliant pipe-crawling robots YouTube
  6. A compliant easy-chair for the elderly YouTube

Syllabus and materials

At NPTEL, as the course publishes them.

Credits and licence

Institution
IISc Bangalore
Department
Mechanical Engineering
Teacher
Prof. G. K. Ananthasuresh
Level
Undergraduate
Language
English
Subjects
Engineering
Source
NPTEL
Licence
CC BY-NC-SA, as NPTEL states it. Non-commercial use only. NPTEL's terms
Attribution
NPTEL states: "Distributed under Creative Commons Attribution-ShareAlike / CC BY - NC - SA", beside a BY-NC-SA badge.
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