An Intrinsic and Geometric Framework for the Synthesis and Analysis of Distributed Compliant Mechanisms

An Intrinsic and Geometric Framework for the Synthesis of Distributed Compliant Mechanisms by Girish Krishnan Co-Chairs: Charles J. Kim and Sridhar Kota Traditional engineering designs associate strength with rigidity. As a result, most engineering systems that involve mechanical motion typically consist of rigid links connected with joints or interfaces. In contrast, nature achieves motion by flexibility or compliance through elastic deformation. It maintains strength by distributing compliance throughout its geometry rather than localizing it. Incorporating distributed compliance in engineering designs yield monolithic systems that are cost-effective, lightweight, having reduced peak stress, and zero friction and wear. The principles of mechanics accurately predict the behavior of these compliant mechanisms, but yield little insight into their systematic synthesis. This thesis proposes a mathematical framework to represent problem specifications and the mechanism behavior in terms of geometrically intuitive quantities that enable analysis and synthesis. Compliance representation is proposed for (i) single port mechanisms with a unique point of interest in terms of geometric quantities such as ellipses and vectors, and (ii) multiple port mechanisms with transmission of load and motion between distinct input(s) and output(s) is captured in terms of load flow. This geometric representation provides

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