205 三次元ダイナミックコンプライアントメカニズムの設計モデル

抄録

A discretized model to represent dynamic and flexible behavior of structural member is presented for the analysis and synthesis of compliant mechanisms, which utilize the flexibility to obtain its dynamic motion for prescribed performance. The flexible member is discretized into straight segments connected by three-dimensional virtual coil springs at nodes. The equation of motion is derived on the basis of Lagrange's equation of motion in terms of the generalized coordinates, that is, the Euler angles of the segments. The time-history analysis of the motion associated with sensitivity analysis with respect to design parameters is performed by Newmark β method. The change of the motion of flexible member is approximated in the first-order sense with respect to design parameters change through the sensitivity analysis. The governing equations to determine design parameters are derived so as to make the approximated motion equal to prescribed one. The solution of the design parameters is handled by the Moore-Penrose generalized inverse, since the governing equations are summarized in the form of linear simultaneous equations with rectangular matrix of coefficients.