Mechanical Engineering Commons^™

Developable Compliant-Aided Rolling-Contact Mechanisms, Todd G. Nelson, Just L. Herder

Student Works

Rolling-contact mechanisms can provide low-friction motion with unique kinematic paths. We show that developable surfaces can be used as a design tool for rolling-contact mechanisms joined with compliant bands. These mechanisms can exhibit 3D motion paths, couple rotational and translational motions into a single degree of freedom, and can be designed to exhibit various tailored kinetic responses. We set forth developable surface parametrizations well suited to the creation of rolling contacts. We highlight how the geodesic and principal curvatures of the non-ruling principal curves of a developable surface are meaningful design quantities for rolling contacts. We provide kinematic and kinetic …

A Definition And Demonstration Of Developable Mechanisms, Trent Karl Zimmerman

Theses and Dissertations

There is an increasing need for compact mechanical systems that can accomplish sophisticated tasks. Technologies like ortho-planar and lamina emergent mechanisms (LEMs) have been developed to satisfy needs like these by stowing in planar sheets from which they emerge to perform their function. They can be compact, lightweight, monolithic, scalable, and can withstand harsh environments. They are limited, however, by their base element---planar surfaces. Applications requiring these advantages often include curved surfaces, like aircraft wings, needles, and automotive bodies. In this research, developable mechanisms are presented as a solution to satisfy the need for mechanisms that can conform to or …

Design Of A Passive Ankle Prosthesis With Energy Return That Increases With Increasing Walking Velocity, Alexander J. Folz

Master's Theses (2009 -)

Patients who undergo a transtibial (below the knee) amputation are often met with a difficult decision: selection of a prosthesis. Limitations of currently available prostheses motivate work on a new solution, the EaSY Walk, a passive device that mimics two key aspects of the natural ankle: non-linear rotational stiffness through implementation of a stiffening flexure mechanism and rotational work output that varies as a function of walking velocity to propel the user forward. To achieve the latter, a strategy to convert the maximum available translational energy acquired from deflection along the leg into rotational energy about the ankle joint through …

Material Selection Shape Factors For Compliant Arrays In Bending, David T. Fullwood, Todd G. Nelson, Jared T. Bruton, Nathan E. Rieske, M. Patrick Walton, Larry L. Howell

Faculty Publications

Similar to the general class of metamaterials, compliant arrays (CAs) are engineered from an array of subelements that combine to produce a response that is typically not available from a at panel made of a single material. As such, analysis and design of CA systems requires the integration of both the material and geometrical properties of the array. This paper proposes a convenient and efficient method of combining these essential elements using analytically derived shape factors for bending modes. The approach is validated experimentally, and used to demonstrate large regions of previously inaccessible property combinations in material selection charts that …

A Haptic Surface Robot Interface For Large-Format Touchscreen Displays, Mark Price

Masters Theses

This thesis presents the design for a novel haptic interface for large-format touchscreens. Techniques such as electrovibration, ultrasonic vibration, and external braked devices have been developed by other researchers to deliver haptic feedback to touchscreen users. However, these methods do not address the need for spatial constraints that only restrict user motion in the direction of the constraint. This technology gap contributes to the lack of haptic technology available for touchscreen-based upper-limb rehabilitation, despite the prevalent use of haptics in other forms of robotic rehabilitation. The goal of this thesis is to display kinesthetic haptic constraints to the touchscreen user …

Mechanical Properties Of Laser-Sintered-Nylon Diamond Lattices, Clayton Neff

USF Tampa Graduate Theses and Dissertations

Additive manufacturing offers a manufacturing technique to produce complex geometry prototypes at a rapid pace and low cost. These advantages advocate additive manufacturing for the design and production of cellular structures. Cellular structures are interesting because they contain a large amount of porosity (void space of air) to manifest a lightweight structure. Designs of cellular structures generate a periodic pattern; often of complex geometry, called a lattice.

There has been a significant amount of research to maximize specific stiffness of lattice structures but little to evaluate low-stiffness lattices. Low-stiffness structures benefit energy absorbance through bending of the lattice. This research …

Non-Dimensional Approach For Static Balancing Of Rotational Flexures, Ezekiel G. Merriam, Larry L. Howell

Faculty Publications

This work presents a nondimensional method for statically balancing flexural hinges, including those with stiffness that varies with load. Using a set of non-dimensional parameters, it is shown that one can quickly design a balancing mechanism for an idealized hinge/torsion spring system. This method is then extended to load-dependent systems, and is demonstrated with the design of a balanced cross-axis-flexural pivot with stiffness that varies as a function of compressive preload. A physical prototype is built and tested to verify the design method. The prototype demonstrates an average stiffness reduction of 87% over an 80 degree deflection range. The method …

A Variable-Stiffness Compliant Mechanism For Stiffness-Controlled Haptic Interfaces, Jeffrey C. Hawks

Theses and Dissertations

In this research a variable-stiffness compliant mechanism was developed to generate variable force-displacement profiles at the mechanisms coupler point. The mechanism is based on a compliant Roberts straight-line mechanism, and the stiffness is varied by changing the effective length of the compliant links with an actuated slider. The variable-stiffness mechanism was used in a one-degree-of-freedom haptic interface to demonstrate the effectiveness of varying the stiffness of a compliant mechanism. Unlike traditional haptic interfaces, in which the force is controlled using motors and rigid links, the haptic interface developed in this work displays haptic stiffness via the variable-stiffness compliant mechanism. The …

Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings

Masters Theses

This thesis presents the design of uBot-7, the latest version of a dexterous mobile manipulator. This platform has been iteratively developed to realize a high performance-to-cost dexterous whole body manipulator with respect to mobile manipulation. The semi-anthropomorphic design of the uBot is a demonstrated and functional research platform for developing advanced autonomous perception, manipulation, and mobility tasks. The goal of this work is to improve the uBot’s ability to sense and interact with its environment in order to increase the platforms capability to operate dexterously, through the incorporation of joint torque feedback, and safely, through the implementation of passive and …

Design And Analysis Of A Compliant Mechanism Spinal Implant, Eric M. Stratton

Theses and Dissertations

This thesis introduces and presents the modeling of a novel compliant spinal implant designed to reduce back pain and restore function to degenerate spinal disc tissues as well as provide a mechanical environment conducive to healing the tissues. The initial objectives for this device development and the focus of this work are modeling and validation of the force-deflection relationships and stress analysis. Modeling was done using the pseudo-rigid-body model to create a 3 degree of freedom mechanism for flexion-extension (forward-backward bending) and a 5 degree of freedom mechanism for lateral bending (side-to-side). These models were analyzed using the principle of …

Piezoresistive Models For Polysilicon With Bending Or Torsional Loads, Gerrit T. Larsen

Theses and Dissertations

This thesis presents new models for determining piezoresistive response in long, thin polysilicon beams with either axial and bending moment inducing loads or torsional loads. Microelectromechanical (MEMS) test devices and calibration methods for finding the piezoresistive coefficients are also presented for both loading conditions. For axial and bending moment inducing loads, if the piezoresistive coefficients are known, the Improved Piezoresistive Flexure Model (IPFM) is used to find the new resistance of a beam under stress. The IPFM first discretizes the beam into small volumes represented by resistors. The stress that each of these volumes experiences is calculated, and the stress …

Design And Testing Of A Pumpless Microelectromechanical System Nanoinjector, Quentin Theodore Aten

Theses and Dissertations

A deeper understanding of human development and disease is made possible partly through the study of genetically modified model organisms, such as the common mouse (Mus musculus). By genetically modifying such model organisms, scientists can activate, deactivate, or highlight particular characteristics. A genetically modified animal is generated by adding exogenous (foreign) genetic material to one or more embryonic cells at their earliest stages of development. Frequently, this exogenous genetic material consists of specially engineered DNA, which is introduced into a fertilized egg cell (zygote). When successfully introduced into the zygote, the exogenous DNA will be incorporated into the …

A Compliant Threshold Acceleration Sensor Integrated With Radio Frequency Identifiable Tags, Benjamin L. Todd

Theses and Dissertations

Fully compliant bistable mechanisms have been proposed to be used as threshold accelerometers. The advantages to using these devices are that they require no external power to operate and maintain their sensing state. Using this characteristic the devices can be integrated with passive radio frequency identification tags (RFID). This allows for the sensing package to lay dormant with no maintenance needed until the sensor is read by the RFID reader. This thesis presents a successfully fabricated and integrated threshold accelerometer with a passive RFID tag. This in turn has been successfully read with an RFID reader and shown to act …

Achieving Complex Motion With Fundamental Components For Lamina Emergent Mechanisms, Brian Geoffrey Winder

Theses and Dissertations

Designing mechanical products in a competitive environment can present unique challenges, and designers constantly search for innovative ways to increase efficiency. One way to save space and reduce cost is to use ortho-planar compliant mechanisms which can be made from sheets of material, or lamina emergent mechanisms (LEMs). This thesis presents principles which can be used for designing LEMs. Pop-up paper mechanisms use topologies similar to LEMs, so it is advantageous to study their kinematics. This thesis outlines the use of planar and spherical kinematics to model commonly used pop-up paper mechanisms. A survey of common joint types is given, …

Characterizing The Three-Dimensional Behavior Of Bistable Micromechanisms, Brian B. Cherry

Theses and Dissertations

Compliant bistable micromechanisms have been proposed for use in applications such as switches, relays, shutters, and sensing arrays. Unpublished laboratory testing suggests that off-axis forces may affect the bistable nature of fully compliant bistable micromechanisms (FCBMs). The actuation forces required to snap the FCBM from one stable equilibrium position to another can be altered if the off-axis forces are applied to the mechanism during transition between stable positions. Understanding the three-dimensional characteristics of these mechanisms and the effect of eccentric loading conditions would be helpful in design and analysis of FCBMs. Two 3-D FEA models were developed for analysis and …

Principles, Functions, And Concepts For Compliant Mechanically Reactive Armor Elements, Cameron S. Andersen

Theses and Dissertations

There exists a great need for armor systems with greater mass efficiencies and ballistic limits. This thesis explores the development of a new field of armor capable of satisfying the increased demand for modern armor: Mechanically Reactive Armor or MRA. More specifically, the thesis focuses on Compliant MRA or CMRA. From the physics governing projectile-armor interactions, principles governing successful design of MRA are identified and presented. These principles or design approaches focus primarily on rejecting, minimizing, or absorbing the incoming projectile's kinetic energy. After identifying these principles, the specific mechanical functions required by the principles are isolated. These functions represent …

Preliminary Design Approach For Prosthetic Ankle Joints Using Compliant Mechanisms, Jason Matthew Wiersdorf

Theses and Dissertations

The objective of this thesis is to develop design approaches and models for prosthetic ankle joints using kinematic models of the human ankle and compliant mechanisms technology. Compliant mechanisms offer several potential design advantages over traditional rigid-body designs including high reliability and low cost. These design advantages are ideal for use in prosthetics. Some prosthetic ankle/foot systems currently on the market have multiple degrees of freedom yet are expensive. Additionally, even though these systems have multiple degrees of freedom, none of them are designed after the actual movements of the biological ankle. In this thesis a two, single degree-of-freedom hinge …

Piezoresistive Sensing Of Bistable Micro Mechansim State, Jeffrey K. Anderson

Theses and Dissertations

The objective of this work is to demonstrate the feasibility of on-chip sensing of bistable mechanism state using the piezoresistive properties of polysilicon, thus eliminating the need for electrical contacts. Changes in position are detected by observing changes in resistance across the mechanism. Sensing the state of bistable mechanisms is critical in their various applications. The research in this thesis advances the modeling techniques of MEMS devices which use piezoresistivity for position sensing. A fully compliant bistable micro mechanism was designed, fabricated, and tested to demonstrate the feasibility of this sensing technique. Testing results from two fabrication processes, Fairchild's SUMMiT …

Compliant Ortho-Planar Spring Behavior Under Complex Loads, Nathan Oliver Rasmussen

Theses and Dissertations

This thesis presents research on the feasibility of applying compliant-ortho-planar springs (COPS) to rotational applications. The primary motivation of this research is the application of COPS to a continuously variable transmission (CVT). The design space limitations, loading conditions, stresses, stress concentrations, and limitations of current design tools, such as pseudo-rigid-body models (PRBM) for COPS, are discussed. A new 3D PRBM is presented along with a discussion on the possible applications of such to a rotating COPS. Stress stiffening and lateral stability are two major phenomena occurring in a rotating COPS. Both phenomena are a direct result of the inertial loads …

Compliant Mechanisms To Perform Bearing And Spring Function In High Precision Applications, Jesse R. Cannon

Theses and Dissertations

An increasing number of mechanical systems are being designed on the micro and meso scales. Assembly and maintenance become increasingly difficult as the size of mechanisms decrease, and the minimum size of traditional elements such as bearings and springs is limited. The backlash of bearings also limits their usefulness in applications where high precision and repeatability are needed. At small scales and for high precision applications, alternative, non-traditional elements are needed.

The objective of this thesis is to develop reliable and scalable compliant components to replace bearings and helical springs. Components replacing springs must be able to produce specified torque/motion …

High-Torque Capacity Compliant Centrifugal Clutches, Ryan G. Weight

Theses and Dissertations

This thesis developed high-torque-capacity floating opposing arm clutches that are manufactured with standard economical manufacturing processes, while maintaining critical performance characteristics. Contact engagement speed and torque capacity models were created for the Hoffco-Comet, floating-opposing-arm (FOA), and floating 1 (F1) clutches. Sensitivity analyses were performed to identify key design parameters. A robust compliant FOA clutch was designed by minimizing the tolerance for both contact engagement speed and torque capacity. The robust design insures that the clutch will operate within the prescribed application constraints. Additional modeling showed that using a layered clutch would significantly tighten the contact engagement speed and torque performance …

Compliant Centrifugal Clutches: Design, Analysis, And Testing, Nathan B. Crane

Theses and Dissertations

Existing classes of centrifugal clutch concepts were reviewed. The pseudo-rigid-body model (PRBM), rigid-body replacement synthesis, force-deflection analysis, compliance potential evaluation, and compliant concept evaluation were used to develop effective new centrifugal clutch concepts. These methods helped develop and model four novel compliant centrifugal clutch designs, model two existing designs, and identify a concept with excellent potential for low-cost centrifugal clutch applications. This concept, the floating opposing arm (FOA) clutch, doubles the torque capacity metric relative to existing compliant designs. Torque and engagement speed models for this clutch were developed and verified against four prototype clutches. Additional novel designs devel-oped through …

Development And Design Of Constant-Force Mechanisms, Brent Lewis Weight

Theses and Dissertations

This thesis adds to the knowledge base of constant-force mechanisms (CFMs). It begins by reviewing past work done in the area of CFMs and then develops new nondimensionalized parameters that are used to simplify the calculations required to design a CFM. Comparison techniques are then developed that utilize these non-dimensionalized parameters to compare mechanisms based on stiffnesses, percent constant-force, actual lengths, normal displacements, and feasible design orientations. These comparison techniques are then combined with optimization to define new mechanisms with improved performance and range of capabilities. This thesis also outlines a design process, methods to identify mechanisms that are suitable …