Dynamics of free-fixed planar serial mechanisms with rigid links and flexible higes
Keywords:
mechanism, serial, flexible hinge, rigid link, compliance, inertia, lumped parameters, natural frequency, dynamics, double pendulumAbstract
A lumped-parameter dynamic model is developed for planar serial mechanisms with free-fixed ends and comprising rigid links connected to flexible hinges. Based on the rigid links degrees of freedom, the method assembles a mass matrix accounting for both rigid links and flexible hinges inertia, as well as an exact compliance matrix that considers both bending and axial deformations of the hinges. The two matrices are utilized to calculate the in-plane natural frequencies and mode shapes via the dynamic matrix, and to predict the free or forced time response of the mechanism. The dynamics of a particular collinear mechanism, formed of two rigid links and two flexible hinges, are thoroughly analyzed in terms of geometric parameters, and by also including the gravity effects when the mechanism is vertical and behaves as a double pendulum.
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