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COMPOSITE AND MULTI-SCALE COMPLIANT MECHANISMS FOR MANIPULATION AND MECHANICAL CHARACTERIZATION

Bhargav, Santosh DB and Singh, Gaurav and Ananthasuresh, GK (2014) COMPOSITE AND MULTI-SCALE COMPLIANT MECHANISMS FOR MANIPULATION AND MECHANICAL CHARACTERIZATION. In: ASME International Design Engineering Technical Conferences / Computers and Information in Engineering Conference (IDETC/CIE), AUG 04-07, 2013, Portland, OR.

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Abstract

In this paper, we integrate two or more compliant mechanisms to get enhanced functionality for manipulating and mechanically characterizing the grasped objects of varied size (cm to sub-mm), stiffness (1e5 to 10 N/m), and materials (cement to biological cells). The concepts of spring-lever (SL) model, stiffness maps, and non-dimensional kinetoelastostatic maps are used to design composite and multi-scale compliant mechanisms. Composite compliant mechanisms comprise two or more different mechanisms within a single elastic continuum while multi-scale ones possess the additional feature of substantial difference in the sizes of the mechanisms that are combined into one. We present three applications: (i) a composite compliant device to measure the failure load of the cement samples; (ii) a composite multi-scale compliant gripper to measure the bulk stiffness of zebrafish embryos; and (iii) a compliant gripper combined with a negative-stiffness element to reduce the overall stiffness. The prototypes of all three devices are made and tested. The cement sample needed a breaking force of 22.5 N; the zebrafish embryo is found to have bulk stiffness of about 10 N/m; and the stiffness of a compliant gripper was reduced by 99.8 % to 0.2 N/m.

Item Type: Conference Proceedings
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Additional Information: Copy right for this article belongs to the AMER SOC MECHANICAL ENGINEERS, THREE PARK AVENUE, NEW YORK, NY 10016-5990 USA
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 05 Nov 2015 09:05
Last Modified: 05 Nov 2015 09:05
URI: http://eprints.iisc.ernet.in/id/eprint/52704

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