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Compliant Mechanisms: Principles and Design

Compliant Mechanisms: Principles and Design. Instructor: Prof. G. K. Ananthasuresh, Department of Mechanical Engineering, IISc Bangalore. This course introduces the concept and principles of compliant mechanisms and presents the design methods in detail. Various applications of compliant mechanisms in consumer products, microsystems, aerospace, automotive, and biomedical industries will be touched upon throughout the course. It is a comprehensive treatment of the growing field of compliant mechanisms starting from the classics and basics and ending with the state of the art. (from nptel.ac.in)

Lecture 05 - Maxwell's Rule and Grubler's Formula

Concepts covered in this lecture: Understanding the connection between degrees of freedom counted by the Grubler's formula and states of self-stress counted by Maxwell's rule.


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Overview of Compliant Mechanisms; Mobility Analysis
Lecture 01 - Overview
Lecture 02 - Spirit of Compliant Design
Lecture 03 - A Glimpse of Applications
Lecture 04 - Mobility and Degrees of Freedom in Compliant Mechanisms
Lecture 05 - Maxwell's Rule and Grubler's Formula
Lecture 06 - Using Compatibility and Force Equilibrium Matrices to Identify Degrees of Freedom and State of Self-stress in Trusses
Modeling of Flexures and Finite Element Analysis
Lecture 07 - Empirical Formula for Flexure Joints
Lecture 08 - Types of Elastic Pairs (Flexures)
Lecture 09 - Linear Finite Element Analysis of Compliant Mechanisms with Beam Elements
Lecture 10 - A Compliant Mechanism Kit
Lecture 11 - Linear and Non-linear Finite Element Analysis using Continuum Elements
Lecture 12 - Subtleties in Finite Element Analysis: Geometric Nonlinearity and Contact
Large Displacement Analysis of a Cantilever Beam and Pseudo Rigid Body Modeling
Lecture 13 - Deformation of a Cantilever under a Tip-load, using Elliptic Integrals
Lecture 14 - Elliptic Integrals and their Use in Elastic Analysis
Lecture 15 - Frisch-Fays Approach to Large Deformation of Beam
Lecture 16 - Burns-Crossleys Kinematic Model
Lecture 17 - Howell-Midha's Elastic Model
Lecture 18 - Pseudo Rigid-body (PRB) Modeling
Analysis and Synthesis using Pseudo Rigid-Body Models
Lecture 19 - Modeling a Partially Compliant Mechanism
Lecture 20 - Kinematic Coefficients of a Four-bar Linkage with and without Springs
Lecture 21 - Solving Equations of PRB Modeling and Comparing with Finite Element Analysis
Lecture 22 - Loop-closure Equations for PRB Models of Compliant Mechanisms
Lecture 23 - Burmester Theory for Compliant Mechanisms
Lecture 24 - PRB based Synthesis Examples
Structural Optimization Approach to Design for Deflection
Lecture 25 - Structural Optimization Approach
Lecture 26 - Early Works on Design for Compliance
Lecture 27 - Design for Deflection of Trusses
Lecture 28 - Design for Deflection of Beams and Frames
Lecture 29 - Design of Elastic Continua for Desired Deflection
Lecture 30 - Continuum Element-Based Topology Optimization of Compliant Mechanisms
Designing Compliant Mechanisms using Continuum Topology Optimization; Distributed Compliance
Lecture 31 - YinSyn; Synthesis of Non-linear Responses with Compliant Mechanisms
Lecture 32 - Five Different Formulations for Compliant Mechanism and Design
Lecture 33 - Distributed Compliance
Lecture 34 - How to Achieve Distributed Compliance
Lecture 35 - Shape Optimization
Lecture 36 - Cam-flexure Clamp-case-study
Spring-lever and Spring-mass-lever Models for Compliant Mechanisms, and Selection Maps
Lecture 37 - Spring-lever Model for Compliant Mechanisms
Lecture 38 - Feasibility Maps for Complaint Mechanism
Lecture 39 - Selection of Compliant Mechanisms for Given User-specifications
Lecture 40 - Two Case-studies using Feasibility Maps Technique
Lecture 41 - Spring-mass-lever Model for Compliant Mechanisms for Dynamic Response
Lecture 42 - Redesign of Compliant Mechanisms; MATLAB and Java Codes
Non-dimensional Analysis of Compliant Mechanisms and Kinetoelastic Maps
Lecture 43 - Non-Dimensional Analysis of Beams
Lecture 44 - Deformation Index and Slenderness Ratio of Complaint Mechanisms
Lecture 45 - Kinetoelastostatic Maps
Lecture 46 - Designing with Kinetoelastic Maps
Lecture 47 - Non-dimensionalization of Stress, Frequency, and Other Measures
Lecture 48 - Designing Compliant Suspensions using Kinetoelastic Maps
Instant Center and Building-block Methods for Designing Compliant Mechanisms
Lecture 49 - Instant Center Method for Designing Compliant Mechanisms
Lecture 50 - Stiffness and Compliance Ellipsoids
Lecture 51 - Building Block Method of Designing Compliant Mechanisms
Lecture 52 - Comparative Analysis of Different Methods for Designing Compliant Mechanisms
Lecture 53 - Aspects of Mechanical Advantage of Compliant Mechanisms
Lecture 54 - Mechanical Advantage of Rigid-body and Compliant Mechanisms
Bistable Compliant Mechanisms and Static Balancing of Compliant Mechanisms
Lecture 55 - Bistability in Elastic Systems
Lecture 56 - Analysis of Bistable Arches
Lecture 57 - Compliant Mechanisms with Bistable Arches
Lecture 58 - Static Balancing and Zero-free-length Springs
Lecture 59 - Static Balance of a Compliant Mechanism using a Linkage
Lecture 60 - Static Balancing Method for Compliant Mechanisms
Compliant Mechanisms and Microsystems; Materials and Prototyping of Compliant Mechanisms
Lecture 61 - A catalogue of Compliant Mechanisms
Lecture 62 - Compliant Suspension Mechanism in Microsystems (MEMS)
Lecture 63 - Micromechanical Signal Processors using Compliant Mechanisms
Lecture 64 - A Few Special Concepts of Compliant Mechanisms
Lecture 65 - Materials and Prototyping of Compliant Mechanisms
Lecture 66 - Summary of the Course
Six Case Studies of Compliant Mechanisms
Lecture 67 - Micromachined Accelerometers with Displacement-amplifying Compliant Mechanisms (DaCMs)
Lecture 68 - Miniature Compliant Mechanisms as Cell-manipulation Tools
Lecture 69 - Micronewton Force Sensor
Lecture 70 - Compliant Tissue Cutting Mechanism
Lecture 71 - A Compliant Pipe-crawling Robots
Lecture 72 - A Compliant Easy-chair for the Elderly