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Quantifying Uncertainty for Planar Pseudo-Rigid Body Models

[+] Author Affiliations
Craig P. Lusk

University of South Florida, Tampa, FL

Paper No. DETC2011-47456, pp. 67-73; 7 pages
doi:10.1115/DETC2011-47456
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME

abstract

The Pseudo-Rigid-Body Model (PRBM) is an important technique for analyzing and synthesizing compliant mechanisms. This paper describes an approach for generalizing the PRBM and for quantifying its accuracy. The Bernoulli-Euler beam equations are solved and the solution is represented using a phase-portrait. It is shown that the slope-curvature relations for all uniform fixed free-beams can be represented on a single phase portrait. This representation allows for data about PRBM representations for each cantilever beam to be efficiently presented, and for broad conclusions to be drawn, e.g. that the relative position error associated with a simple version of the PRBM is never greater than 7%.

Copyright © 2011 by ASME

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