Comet: Co Me T

CoMeT-Lite Users Guide 1.
0 For academic use only 2003 Martin Culpepper, Soohyung Kim and Patrick Petri
MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu
CoMeT
Compliant Mechanism Tool Users Guide 1.0
HexFlex six-axis compliant mechanism designed using CoMeT [2003 R&D 100 Award] An academic version of CoMeT-Lite 1.0 is available at http://compliantmechanisms.org
Users guide includes tutorial exercises for CoMeT-Lite 1.0 and following CoMeT modules = CoMeT-Lite Edit Plasticity Analyze Diagnosis = CoMeT-Advanced Sensitivity = Under development Optimize 2D3D Templates
Thermal
Dynamics
Reconfigurability
-1-
CoMeT-Lite Users Guide 1.0 For academic use only 2003 Martin Culpepper, Soohyung Kim and Patrick Petri
-2-
Table of Contents
1 LICENSE, REGISTRATION, SYSTEM REQUIREMENTS & CONTACTS- 5 1.1 1.2 1.3 1.4 License agreement................................................................................................. - 5 Registration ............................................................................................................ - 5 System requirements............................................................................................. - 5 Contact information ............................................................................................... - 5 CoMeT-Lite as a design tool Why is CoMeT-Lite needed?.............................. - 7 -
INTRODUCTION TO COMET-LITE ........................................................... - 7 2.1 2.1.1 Human-in-the-loop compliant mechanism synthesis.. ............................... - 7 2.1.2 The new approach: CoMeT-Lite ........................................................................ - 7 2.1.3 Getting the most out of CoMeT-Lite with Tablet PCs...................................... - 8 2.2 CoMeT-Lite as a pedagogical tool ........................................................................ - 8 2.3 2.4 The nature and accuracy of CoMeT-Lite modeling ............................................. - 9 Organization and layout of this document .......................................................... - 9 Starting CoMeT-Lite ............................................................................................. - 11 Initial settings ....................................................................................................... - 11 -
EXAMPLE: BAR IN TENSION................................................................. - 10 3.1 3.2
3.2.1 Set units ............................................................................................................ - 11 3.2.2 Set material properties .................................................................................... - 12 3.3 Define topology, loads and constraints ............................................................. - 12 3.3.1 Create nodes..................................................................................................... - 12 3.3.2 Create beam elements ..................................................................................... - 13 3.3.3 Add constraints ................................................................................................ - 15 3.3.4 Define loads ...................................................................................................... - 16 3.4 Solve and query mechanism kinematics and mechanics ................................ - 16 3.4.1 Probe nodal displacements............................................................................. - 17 -
EXAMPLE: CANTILEVER BEAM WITH MULTIPLE LOADS................. - 19 4.1 4.2 Starting CoMeT-Lite ............................................................................................. - 20 Define topology, loads and constraints ............................................................. - 20 -
4.2.1 Define loads ...................................................................................................... - 20 4.3 Solve and query mechanism kinematics and mechanics ................................ - 23 4.3.1 Probe nodal displacements............................................................................. - 24 -
EXAMPLE: FOUR BAR COMPLIANT MECHANISM ............................. - 26 5.1 5.2 Starting CoMeT-Lite ............................................................................................. - 27 Initial settings ....................................................................................................... - 27 Set units ............................................................................................................ - 27 -
5.2.1
-3-
5.2.2 Set material properties .................................................................................... - 29 5.3 Define topology, loads and constraints ............................................................. - 29 5.3.1 Create nodes..................................................................................................... - 29 5.3.2 Create beam elements ..................................................................................... - 32 5.3.3 Add constraints ................................................................................................ - 34 5.3.4 Create plates..................................................................................................... - 35 5.3.5 Define loads ...................................................................................................... - 35 5.3.6 Add centroids ................................................................................................... - 36 5.3.7 Remove construction geometry ..................................................................... - 36 5.4 Solve and query mechanism kinematics and mechanics ................................ - 38 5.4.1 Probe nodal displacements............................................................................. - 38 -
ADDITIONAL INFORMATION ................................................................. - 43 6.1 6.2 6.3 Node numbering................................................................................................... - 43 Help functions ...................................................................................................... - 43 Model constraint and topology ........................................................................... - 43 Menu bar ............................................................................................................... - 44 Message box......................................................................................................... - 45 Mode menu ........................................................................................................... - 45 Edit mode .......................................................................................................... - 45 Analyze mode ................................................................................................... - 47 Sensitivity mode............................................................................................... - 49 Optimization mode ........................................................................................... - 49 Diagnosis mode................................................................................................ - 49 Plasticity............................................................................................................ - 49 Folded kinematics of 3D compliant mechanisms ......................................... - 50 Thermal expansion........................................................................................... - 50 Dynamic response ........................................................................................... - 50 Reconfigurability .............................................................................................. - 50 -
THE COMET-LITE GUI ............................................................................ - 44 7.1 7.2 7.3
7.3.1 7.3.2 7.3.3 7.3.4 7.3.5 7.3.6 7.3.7 7.3.8 7.3.9 7.3.10
COMET-LITE INSTALLATION ................................................................ - 51 8.1 8.2 8.3 Installing CoMeT-Lite ........................................................................................... - 51 Launching CoMeT-Lite......................................................................................... - 52 Troubleshooting ................................................................................................... - 52 -
-4-
1 License, registration, system requirements & contacts

CoMeT-Lite (a base installation of CoMeT) was developed by the MIT Precision Systems Design and Manufacturing Laboratory (PSDAM). This user guide is an introduction to the Beta release of CoMeTLite 1.0. CoMeT-Lite is furnished under a license (section 1.1) and may be used only in accordance with the terms of this license.
1.1
License agreement
Read this license agreement before you use CoMeT-Lite. Downloading CoMeT-Lite software constitutes an agreement on your part to abide by this license agreement. CoMeT-Lite may be used for either academic or evaluation purposes after registration (see next section) and subject to the following terms. CoMeT-Lite may not be used for commercial purposes without explicit written consent from the director of PSDAM. You agree not to reverse engineer, re-create or use any part or whole of the CoMeTLite code by itself or in another program, document, or in any other means of information conveyance. CoMeT-Lite comes "as is" with no guarantees, liability or warranties express or implied. PSDAM and MIT will not be liable for damages resulting from the use of CoMeT-Lite or this user guide. The information and software discussed in this document are subject to change without notice. CoMeT-Lite is intended for concept evaluation purposes only. CoMeT-Lite should not be used for development or engineering purposes.
1.2
Registration
Registration is required before you use this user guide or CoMeT-Lite. Registered users may access technical support and upgrades. To register provide: Full Name Title Place of business E-mail address
This may be done by emailing the information to: psdam@mit.edu . This information will not be shared beyond PSDAM.
1.3
System requirements
Operating system: Software: RAM: Computer: Windows 2000 or XP recommended Matlab 6, R13 required Recommended 128 Mb minimum Tablet PC recommended; CoMeT-Lite will run on laptops and desktops
1.4
Contact information
Prof. Martin Culpepper MIT Precision System Design and Manufacturing Laboratory (PSDAM: http://psdam.mit.edu/) Phone: 617 452 2395 http://compliantmechanisms.org Fax: 509 693 0833 culpepper@mit.edu
-5-
-6-
2 Introduction to CoMeT-Lite
2.1
2.1.1
CoMeT-Lite as a design tool

Human-in-the-loop compliant mechanism synthesis..
Students and practicing engineers generally design compliant mechanisms using this synthesis process:
Sketch concept on paper t~minutes 1 Create geometry in CAD/FEA t~10s of minutes 2 Define loads & constraints
t~minutes
Mesh model & analyze t~10s of minutes 4
Evaluate results
t~minutes
Final design 5
Iterate
t~10s of minutes to hours
The manual (human-in-the-loop) and automated components within the iterative loop may take tens of minutes for simple mechanisms and hours or days for complex mechanisms. For inexperienced users, this process is exhausting and holds little pedagogical value or intellectual reward. Likewise, experienced designers would prefer to spend time creating new designs rather than running CAD/FEA. The real issue to be addressed is not the lack of a good synthesis tool which can better pair the strengths of the designer and the computer. CoMeT was created to address this issue. 2.1.2 The new approach: CoMeT-Lite
CoMeT-Lite is equipped with a GUI which allows designers to define a mechanisms geometry, boundary conditions and loading conditions via hand sketches. This approach provides a more effective way for the designer (creative engine) and computer (analytic engine) to converse about the mechanism and analyze the mechanism. This is accomplished via a GUI that automatically converts the designers sketch into matrix equations which are understood and analyzed by MATLAB. The GUI converts MATLABs analysis back to a sketch (flexed mechanism shape) and numbers (stresses, strains and displacements) which are easily understood by the designer. As a result, the synthesis (or exploratory learning process) process can be completed in minutes rather than hours or days.
Sketch concept In CoMeT-Lite t~minutes 1 Sketch loads & Constraints t~minutes 2 Iterate
t~minutes
MATLAB analysis
t< 5 seconds
Evaluate Results 3
t~minutes
Final design
-7-
2.1.3
Getting the most out of CoMeT-Lite with Tablet PCs
On a Tablet PC a designer may sketch on screen with a pen, thus better emulating pen-paper design.
Geometry Hand sketch or Key board
Boundary conditions Hand sketch Deformation or Key board Stress & and strain
Analysis & iteration Sensitivity
Optimize
A: CoMeT-Lite run on a Tablet PC
B: CoMeT-Lite analysis procedure
Figure 1: CoMeT-Lite GUI on a Tablet PC and the CoMeT-Lite analysis procedure 2.2 CoMeT-Lite as a pedagogical tool and research tool
Use in the classroom: CoMeT-Lite was funded in-part through the Microsoft-MIT iCampus project. A main focus of this project was to develop software tools that can be used at MIT to improve learning in science and engineering. CoMeT-Lite was designed for use as: (1) An exploratory learning tool The sketching and analysis components enable students to rapidly explore many designs and learn about screw axes (3D), virtual centers of rotation, stress, strain and stiffness. Through exploration, students gain a working sense of compliant mechanism fundamentals. (2) A project design tool CoMeT-Lite can be used to enhance learning in students compliant mechanism projects. Students may spend more time on the projects learning goals rather than devoting project time to learning a CAD program and/or an FEA program. This can be done without loosing sight of the important fundamentals of the analysis. CoMeT-Lite is used at MIT (2.000: How & Why Machines Workpsdam.mit.edu/2.000/start.html) by students to design compliant robotic nano-manipulators.
Team 1
Team 2
Team 3
A: 2.000 class project: x-y nano-manipulator
B: Students prepare for nano-manipulator contest
Figure 2: Student design project Nano-manipulator with x-y compliant mechanism
-8-
Use in compliant mechanism research: CoMeT-Lite has been used at MIT to synthesize 1st order designs of compliant mechanisms for robotics applications and award winning Nanomanipulation equipment. Future development for educational purposes is ongoing under continued Microsoft funding through the MIT iCampus project. Development for research-based applications (modules: 2D3D templates, plasticity, dynamics, reconfigurability) is ongoing under National Science Foundation grant 0348242, CAREER-Research and Education Plans for Modeling and Design of Fixtures and Six-Axis Manipulators for Nanomanufacturing, awarded by the NSF Nanomanufacturing program.
2.3
The nature and accuracy of CoMeT-Lite modeling
CoMeT-Lite is based on linear, isotropic elasticity theory. This method is generally accurate to within 5 % of experimental results for small-moderate mechanism displacements. This level of accuracy is sufficient to identify promising designs for bench-level studies. CoMeT-Lite does not model geometric non-linearities, stress concentrations, stress stiffening or P- effects. CoMeT advanced addresses such issues.
2.4
Organization and layout of this document
This user guide is structured in a different manner than traditional user guides. Following this chapter, we jump into tutorial examples that provide hands-on training with the software. These tutorials are followed by a section on helpful hints and best practices, then sections covering CoMeT-Lite commands. The last section in the user guide describes the installation process for CoMeT-Lite.
Sections 3, 4 and 5 contain tutorial exercises which require that MATLAB and CoMeT-Lite be installed on your computer. Sections 3 and 4 demonstrate how to analyze flexible machine elements (bars and cantilevers). Section 5 demonstrates how to perform an analysis on a precision compliant mechanism.
It is also recommended that you browse section 7 before starting the tutorials. Section 7 covers the basics of the CoMeT GUI, commands and program capabilities.
See section 8 for installation instructions.
-9-
3 Example: Bar in tension

This is an exercise in modeling a classical, compliant structure (not mechanism). In this example, we show you: (1) The commands used to complete modeling steps in any analysis (2) The commands used to complete the example modeling steps [shaded in gray]. Be sure to follow the shaded directions For your reference the following files are located within the Matlabroot\comet\ directory. (1) A file containing the completed model (bar-[finished].mat) (2) A video showing the completion of this example in full (bar.wmv) Please see section 8.1 for the location and explanation of the Matlabroot directory.
Example: Rod in tension

Problem definition One end of a steel rod is rigidly affixed to a wall while the other end of the bar is subject to force, Fx.
Material Steel
x
Geometry - Length L = 1.00 m - Height h = 0.05 m - Width w = 0.05 m
Loading Fx = 5000 N
E = 205 GPa
x
y z
- 10
3.1
Starting CoMeT-Lite
To start CoMeT-Lite, start Matlab, then type cometlite at the Matlab prompt. For more details, see section 8.
3.2
3.2.1
Initial settings
Set units
Before creating a model, users should set the units and materials.
One can choose a unit system from the following systems: Inches and pounds mm-MPa-g SI CGS British
Be sure to follow the shaded commands on the left for all tutorial exercises
Example commands Start a new CoMeT file In Edit mode, click on File menu and select New. Set unit system to SI General commands Start a new CoMeT file In Edit mode, click on File menu and select New. Setting the units system 1) While in Edit mode, click on the Other button. 2) Click on the Units button. 3) Select the unit system youd like to use in the drop down menu. 4) Click Change labels to change labels used in the analysis. Click Change+convert to change labels and to convert the values in the present CoMeT model to the new unit system.
Units
1) Click on the Other button. 2) Click on the Units button. 3) Select SI from the drop down menu. 4) Click on the Change + convert button.
- 11
3.2.2
Set material properties
Users may assign pre-set material properties, such as Youngs Modulus, shear Modulus, Poissons ratio, yield stress and density by choosing appropriate material types from a material list. Custom values may be keyed in.
Example commands Setting material properties to those of steel General commands Setting material properties Using standard materials 1) Click on the Other button. 2) Click on the Material button. 3) Select a material from the drop down menu:
Materials
- Aluminum - Steel - Copper - Cu-Be - Silicon Properties are shown in the text windows. Using custom material properties 1) Click on the Other button. 2) Click on the Material button. 3) Type the appropriate values into the text boxes.
1) Click on the Material button. 2) Select Steel from the drop down menu.
3.3
Define topology, loads and constraints
In this step, users build a model for analysis. Clicking the Edit button launches the editor. By default, the Edit mode starts automatically when CoMeT-Lite is launched.
3.3.1
Create nodes
We will not be creating nodes in this example. This will be covered in section 5.3.1.
- 12
3.3.2
Create beam elements

General commands Sketch beams 1) Click on the Beams button.
Example commands Sketch beams
Beams
2) Click on the Create button. 3) Open the drop down menu and select the beam type: - Rectangular cross-section - Circular cross-section - Tapered cross-section and length - Curved 4) Set values for beam parameters: The x axis is defined along a vector from a beams first to last node. The theta x option sets the rotation of a beam about its x axis. 5) Click within the sketch window to define the beginning of the beam. 6) Click within the sketch window to define the end of the beam.
Create
Rectangular Theta x w and h
1) Click on the Beams button. 2) Click on the Create button. 3) Open the drop down menu and select Rectangular (0) 4) Set theta x =0, w = 0.05, h = 0.05. As we are working in SI units, the values are assigned in meters. You will now sketch the start and end points of the bar, the points do not have to be exact, you will move them to the exact location later. 5) Click near (0, 0) in the sketch window to start the beam which will model the rod. 6) Click near (1, 0) in the sketch window to finish the beam.
- 13
Adjust position of rod endpoints

Nodes
Adjust position of beam endpoints 1) Click on the Nodes button. 2) Click Probe button.
Probe
3a) Click on the node at the end of the beam and enter the new X, Y, and Z coordinates. or
Enter
3b) Click on the Move button to move beam end nodes by mouse click.
1) Click on the Nodes button. 2) Click on the Probe button. 3) Click on first node (near 0,0) in the sketch window. 4) Enter X=0, Y=0 and Z = 0. 5) Press the Update Last button. 6) Click on the second node (near 1, 0) in the sketch window. 7) Enter X=1, Y=0 and Z = 0. 8) Press the Update Last button.
- 14
3.3.3
Add constraints
CoMeT-Lite will only allow nodes that have the following constraint characteristics: Type (1) Free to move in all 6 DOF (default) (2) Coupled between beam elements (3) Grounded to constrain all 6 DOF
Example commands Adding constraints
Graphic representation Blue circle Blue circle at intersection of beams Black square
General commands Adding constraints Option 1: EZ +/- Ground button
Nodes
1) Click on the Nodes button. 2) Click on the EZ +/- Ground button.
EZ +/ground Select
3) Check the Toggle radio button to tell CoMeT-Lite that you want to toggle the grounded-free state of nodes by clicking on them. 4) Click on nodes to ground or free them. Use the Probe button 1) Click on the Nodes button.
1) Click on the Nodes button. 2) Click on the EZ +/- Ground button. 3) Select the Toggle radio button (usually selected by default). 4) Ground the node located at [ 0, 0 ]. The node changes from a blue circle to a black square.
2) Click on the Probe button. 3) Click on the node to be grounded. 4) Check the Grounded check box on the left side of the CoMeT-Lite GUI.
- 15
3.3.4
Define loads
The magnitude and direction of Force and Moment loads acting upon nodes may be set.
Example commands Applying loads General commands Applying loads 1) Click on the Loads button.
Loads Create Node Force Fx Fy Fz
2) Click on the Create button. 3) Select Force or Moment from the drop down menu. 4) Type a magnitude of the desired load in the text box. 5) Click on the node to which the load should be applied. The head of the vector representing the load is represented in the sketch window as resting on the node it is acting upon.
1) Click on the Loads button. 2) Click on the Create button. 3) Select Force from the drop down menu. 4) Enter Fx = 5000, Fy = 0, Fz = 0. As we are working in SI units, Forces are assigned in Newtons. 5) To apply the load, click on the node located at [1,0].
We now have a fully translatable (so MATLAB can analyze) mechanism sketch: Geometry Constraints Loads
3.4
Solve and query mechanism kinematics and mechanics

Exaggerated Node displacement
Click on the Analyze button to run the analysis. This button is located in the bottom right of the CoMeTLite GUI, above the message box. In addition to the deformation plot, there are several ways to obtain results from the analysis.
- 16
3.4.1
Probe nodal displacements

General commands Resizing the view and mechanism ampfactor 1) Click on the View button. 2) Click on the Auto scale button to fit the deformed mechanism to the screen. 3) Click on the Main button. 4) Click on the Configure button. 5) Click on the Slider to set the ampfactor to a desired value. 6) Click on the Plot button to update the view.
Example commands Resizing the view and mechanism ampfactor

Main Configure Slider
Plot
1) Click on the View button. 2) Click on the Auto scale button to fit the deformed mechanism to the screen. 3) Click on the Main button. 4) Click on the Configure button. 5) Click on the Slider to set the ampfactor to ~ 7500 to 8800. 6) Click on the Plot button to update the view. Checking node displacements
Main Probe node
Checking node displacements 1) Click on the Main button. 2) Click on the Probe node button. 3) Click on a node to see how it was displaced.
Node
1) Click on the Probe node button. 2) Click on the grounded (leftmost) node, all displacements and rotations should be 0.
- 17
3) Click on the displaced (rightmost) node. The displacement of the end node in the x direction is 9.7510-6 m. This displacement is too small to be of much use in a compliant mechanism, ~ 10 microns, due to the high tensile stiffness of the rod. It might however, serve as a good constraint. Note the other displacements and rotations are zero as expected. Stress and reaction forces
Main Probe other
Stress and reaction forces 1) Click on the Probe other button. 2) Click on the middle of the rod (not a node) to activate a display which shows the reaction forces on the rod and stress in the rod. If a stress value is not displayed, click on the Configure button in Analyze mode and check the Compute stresses check box, then repeat steps 1 and 2.
Select beam
1) Click on the Probe other button. 2) Click on the middle of the rod (not on a node) to query the reaction forces on the rod and stress in the rod. Optional: Save your work 1) Click on File menu, select Save as and provide a file name. Saving your work 1) Click on File menu, select Save as and provide a file name.
- End of example -
- 18
4 Example: Cantilever beam with multiple loads

In this example, we show you: (1) The commands used to complete modeling steps in any analysis (2) The commands used to complete the example modeling steps [shaded in gray]. Be sure to follow the shaded directions For your reference the following files are located within the Matlabroot\comet\ directory. (1) A file containing the geometry needed to start the exercise (cantilever-[template].mat) (2) A file containing the completed model (cantilever-[finished].mat) (3) A video showing the completion of this example in full (cantilever.wmv) Please see section 8.1 for the location and explanation of the Matlabroot directory.
Example: Cantilever beam in combined loading

Problem definition A combination of loads is placed on a cantilevered beam. One end of the beam is rigidly affixed to a wall while the other end of the bar is subject to a combination of loads:
Material Steel E = 205 GPa Geometry L = 1.00 m h = 0.05 m w = 0.05 m
y z x
Loading Fx = 4000 N Fy = -2000 N Mz = 1000 N-m
- 19
4.1
Starting CoMeT-Lite
4.2

General commands Open an existing file 1) Open the File menu. 2) Select the Load option. 3) Browse to the location of the file. 4) Select the file. 6) Click on the Open button.
Example commands Geometry, units and material The units, materials and constraints are the same as those defined in the first example. Rather than recreate this file, you may open a template file which contains the geometry of the cantilever with the correct units and material properties. 1) Open the File menu. 2) Select the Load option. 3) Browse to the location where you installed CoMeT-Lite. 4) Open the Example_files directory. 5) Select the file cantilever-[template].mat. 6) Click on the Open button. The file should open in CoMeT-Lite as shown below.
4.2.1
Define loads
In the CoMeT-Lite sketch window, Forces are displayed in RED, and Moments are displaced in GREEN.
Example commands Modify view point to prepare for multiple load settings All loads to be applied to the beam do not lie in the x-y view General commands
- 20
plane and therefore can not be seen in the default x-y view. We will modify the view prior to applying the loads so that we may see all of the loads when they are applied.
View Rotate Grounded node Free node
1) Click on the View button. 2) Click on the Rotate button. Click in the sketch window and drag/rotate the view until the view resembles that shown above. Applying loads Create Fx Applying loads 1) Click on the Loads button. 2) Click on the Create button.
Loads Create Node
3) Select Force or Moment from the drop down menu. 4) Enter the Cartesian (x, y, z) components of the load to be applied. 5) Click on the node to which the load should be applied.
Fx Fy Fz
The head of the vector representing the load is represented in the sketch window as resting on the node it is acting upon.
1) Click on the Loads button. 2) Click on the Create button. 3) Select Force from the drop down menu. 4) Enter Fx = 4000, Fy = 0, Fz = 0. As we are working in SI units, Forces are assigned in Newtons.
- 21
5) To apply the load, click on the node located at (1,0,0).
Create Fy
Loads Create Node
Fx Fy Fz
1) Deselect the Create button. 2) Click on the Create button. 3) Select Force from the drop down menu. 4) Enter Fx = 0, Fy = -2000, Fz = 0. 5) To apply the load, click on the node located at [ 1,0 ]. Note: We could have simultaneously specified Fx and Fy as components of one load in the same step. We chose to specify them separately so that the Forces could be viewed in the sketch window independently and modified independently. Create Mz
- 22
Loads Create
Node
Mx My Mz
1) Deselect the Create button. 2) Click on the Create button. 3) Select Moment from the drop down. 4) Enter Mx = 0, My = 0, Mz = 1000. 5) To apply the load, click on the rightmost node located at [1,0]. As we are working in SI units, moments are assigned in Newtonmeters.
We now have a fully translatable (so MATLAB can analyze) mechanism sketch: Geometry Constraints Loads
4.3
Click on the Analyze button to run the analysis. This button is located in the bottom right of the CoMeTLite GUI, above the message box.
- 23
In addition to the deformation plot, there are other ways to obtain results from the analysis. 4.3.1 Probe nodal displacements
General commands Checking node displacements 1) Click on the Main button.
Main Probe node
Example commands Checking node displacements
2) Click on the Probe node button. 3) Click on a node to see how the mode was displaced.
Node
1) Click on the Main button if it is not already depressed. 2) Click on the Probe node button. 3) Click on the leftmost node to verify all displacements and rotations are 0. 4) Click on the rightmost node to observe the displacements and rotations. Note that the z rotation at the node is zero, the rotations due to Fy (-2000 N) and Mz (1000 N-m) have canceled each other out. Stress and reaction forces
Main Probe other
Stress and reaction forces 1) Click on the Probe other button. 2) Click on the middle of the cantilever (not a node) to activate a display which shows the reaction forces on the cantilever and stress in the cantilever.
Select beam
If a stress value is not displayed, click on the Configure button in Analyze mode and check the Compute stresses check box, then repeat steps 1 and 2.
- 24
1) Click on the Probe other button. 2) Click on the middle of the cantilever (not on a node) to query the reaction forces on the cantilever and the maximum stress within the cantilever. Optional: Save your work 1) Click on File menu, select Save as and provide a file name. Saving your work 1) Click on File menu, select Save as and provide a file name.
- End of example
- 25
5 Example: Four bar compliant mechanism

In this example, we show you: (1) The commands used to complete modeling steps in any analysis (2) The commands used to complete the example modeling steps [shaded in gray]. Be sure to follow the shaded directions For your reference the following files are located within the Matlabroot\comet\ directory. (1) A file containing the completed model (fourbar-[finished].mat) (2) A video showing the completion of this example in full (fourbar.wmv) Please see section 8.1 for the location and explanation of the Matlabroot directory.
Example: Four bar compliant mechanism

Problem definition
A mechanism is needed to support and guide an optical element through a rotation about its center with low parasitic errors 1. A fourbar compliant mechanism, controlled by an actuation Force F, is suggested as a solution. Maintaining a maximum stress of less than 10% of the yield stress is desired to reduce the kinematic errors due to micro-scale dislocation propagation within the steel. In this example, you will develop the CoMeT-Lite model of a four bar compliant mechanism (see above) and perform a rapid design check to flesh out the approximate sizes and feature locations/orientations needed to meet the design requirements given in the table below.
Optical element Element center Clamp Mechanism Force
x z
Screw axis Element center Link 3 Link 4
Rigid plate Link 1
Base
Link 2
Material
Geometry [All dimension in inches]
Force
Design requirements
Parasitic errors: Motions in directions other than intended motions. Our parasitic errors are in x, y, z, x and y
- 26
Steel E = 30 Mpsi y = 100 ksi
Envelope
y x
F = 1 lbf
Range: z 50 radians Parasitic errors: x, y < 20 inches
Instant center
5.1
Starting CoMeT-Lite
5.2
5.2.1
Initial settings
Set units
Before creating a model, users should set the units and materials.
One can choose a unit system from the following systems: Inches and pounds
Example commands Start a new CoMeT file In Edit mode, click on File menu and select New. Setting the unit system to inches and pounds
mm-MPa-g
SI
CGS
General commands
British
Start a new CoMeT file In Edit mode, click on File menu and select New. Setting the unit system 1) In Edit mode, click on the Other button.
Other Units
2) Click on the Units button. 3) Select the unit system youd like to use in the drop down menu. 4) Click Change labels to change labels used in the analysis. Click Change+convert to change labels and to convert the values in the present CoMeT model to the new unit system.
Units
1) Click on the Other button. 2) Click on the Units button. 3) Select inches and pounds from the drop down menu. 4) Click on the Change + convert button if inches and
- 27
pounds was not already selected.
- 28
5.2.2
Set material properties
Users can set material properties, such as Youngs Modulus, shear Modulus, Poissons ratio, yield stress and density by choosing appropriate material types from the material lists, or by entering custom values.
Example commands Setting material properties to those of steel General commands Setting material properties Setting custom material properties
Other Material
1) Click on the Other button. 2) Click on the Material button. 3) Type the appropriate values into the respective text boxes.
Steel
Setting standard materials

100000
1) Click Other in the object buttons. 2) Click on the Material button. 3) Select a material from the drop down menu:
Using custom material properties 1) Click on the Material button. 2) Select Steel from the drop down menu. The yield stress (sigmay) displayed for the default steel properties must be changed to match our application. 3) Type 100000 in the sigmay box & hit the Enter key on your keyboard.
- Aluminum - Steel - Copper - Cu-Be - Silicon 4) Properties are shown in the text windows.
5.3
In this step, users build a model for analysis. Clicking the Edit button launches the editor. By default, CoMeT-Lite enters the Edit mode when it is launched. You have been setting material and unit system properties in the Edit mode. 5.3.1 Create nodes
One can create, move and delete nodes. Nodes may be used to define: (1) The start and endpoint of beams (2) The vertices of rigid plates (3) As construction geometry Here we will create nodes which have two functions:
- 29
(1) Outline the boundary of the mechanism (2) Provide nodes with which we can make a rigid plate that emulates the rigid clamps and optics
Example commands Setting the sketch plane parallel with the x-y plane General commands Setting the sketch plane parallel with the x-y plane 1) Click on the View button.
View Standard
2) Click on the Standard button. 3) Click on the Planar/Iso button.
Planar/Iso
1) Click on the View button. 2) Click on the Standard button. 3) Click on the Planar/Iso button. Setting the view zoom scale Setting the view zoom scale 1) Click on the View button. 2) Click on the Zoom button.
View Zoom
3) Enter a number in the Axes range text box to define the limits on the viewed axes. 4) Enter the position of a point for the sketch view to focus upon.
5 x:2 y:2 z:0
1) Click on the View button. 2) Click on the Zoom button. 3) Enter 5 in the Axes range text box to define the limits on the x and y axes.
- 30
4) Enter x = 2, y = 2, z = 0. 5) Press the Update View button Note: this process sets the x-y sketch plane at z = 0 and defines the view center at x = y = 2. Create nodes to outline the mechanism envelope and instant center position
Nodes
Create nodes 1) Click on the Node button. 2) Click Create button. 3) Indicate the positions of nodes by clicking desired points in the main plot view.
Create
~ (0, 2.25) ~ (3.15, 2.25)
~ (1.57,1.61)
~ (0,0)
~ (3.15, 0)
1) Click on the Node button. 2) Click Create button. 3) Click near four points to define approximate vertices of the mechanisms envelope: (0,0) (0, 2.25) (3.15, 2.25) (3.15, 0). Vertices (0, 2.25) and (3.15, 2.25) are only used as guides (e.g. construction geometry) to help outline the size of the device. We will later remove the vertices before the mechanism is analyzed. 4) Click near (1.57,1.61) to place a node near the desired instant center of rotation. There is no need to be hyper-accurate in locating these nodes as we are seeking a 1st order analysis. You can view node locations and move them if they are off the intended position by say more than ~ 0.1 inch. 1) Click on the Move button. 2) Click on the node to be moved, and then click on the new location.
- 31
5.3.2
Create beam elements

General commands Sketch beams 1) Click on the Beams button.
Example commands Sketch beams
Beams Instant center Create
2) Click on the Create button. 3) Select the beam type from the drop down menu: - Rectangular cross-section - Circular cross-section - Tapered cross-section and length
1st
2nd
3rd
- Curved
4) Set values for beam parameters.
1) Click on the Beams button. 2) Click on the Create button. 3) Select Rectangular (0) from the drop down menu. 4) Set theta x =0, w = 0.1, h = 0.5 As we are working in inches-pounds, the w and h values are assigned in inches. 5) Read the entirety of step 5 before proceeding: Draw the first link/beam by clicking on the node near (0,0) and then click to end the 1st beam as shown in the figure above. This beam should terminate at about y = 0.97 inches (see figure below for 0.97 dimension) and a line along this beam should intersect the desired instant center (see figure above for example). 6) Read the entirety of step 6 before proceeding Draw the third link/beam by clicking on the node near (3.15,0) and then click to end the beam near the endpoint of the 3rd beam as shown in the figure above. This beam should terminate at about y = 0.97 inches (see figure below for 0.97 dimension) and a line along this beam should intersect the desired instant center (see figure above for example).
The x axis is defined along a vector from a beams first to last node. The theta x option sets the rotation of a beam about its x axis.
5) Click within the sketch window to define the beginning of the beam. 6) Click within the sketch window to define the end of the beam.
- 32
Envelope
y x
Instant center
7) Draw the second link/beam by clicking on the end nodes of the 1st and 3rd links. Adjust beam endpoints positions (if necessary) You only need do this if more accurate positioning of beam endpoints is needed. If they are not accurately placed to your liking: 1) Click on the Nodes button. 2) Click on the Move button to move beam end nodes by clicking on a node and then clicking on the nodes new location. Adjust beam endpoint positions 1) Click on the Nodes button. 2) Click Probe button to click on a beam end node and enter the new X, Y, and Z coordinates. or 3) Click on the Move button to move beam end nodes by mouse click.
- 33
5.3.3
Add constraints
CoMeT-Lite only allows nodes that have the following constraint characteristics: (1) Free to move in all 6 DOF (default) (2) Coupled between beam elements (3) Grounded to constrain all 6 DOF
Example commands Adding constraints
Blue circle Blue circle at intersection of beams Black square

General commands Adding constraints Free nodes are shown as blue circles while grounded nodes appear as black squares. There are two ways to constrain nodes.
Nodes
EZ+/Ground
Option 1: EZ +/- Ground button 1) Click on the Nodes button. 2) Click on the EZ +/- Ground button 3) Check the Toggle radio button to tell CoMeT-Lite that you want to switch the grounded-free state of nodes by clicking on them. 4) Click on the nodes to be grounded. You can toggle a node between grounded and free states by repeated selection of the node.
1) Make sure the Nodes button is selected. 2) Click on the EZ +/- Ground button. 3) The Toggle radio button should be selected by default. If not, select it. This will enable you to toggle nodes between grounded and free states. 4) Ground the bottom nodes on the 1st and 3rd links/beams by clicking on them. A grounded node is represented by a black, square symbol.
Option 2: Use the Probe button 1) Click on the Nodes button. 2) Click on the Probe button. 3) Click on the node to be grounded. 4) Check the Grounded check box on the left side of the CoMeT-Lite GUI. 5) Click on the Update button.
- 34
5.3.4
Create plates
General commands Adding plates 1) Click on the Plates button.
Example commands Adding plates
Plate Create
2) Click on the Create button. 3) Select the three nodes that will form the vertices of the rigid plate. You may remove nodes from the plate by selecting the appropriate button.
Nodes selected
1) Click on the Plates button. 2) Click on the Create button. 3) Select the three nodes that will form the vertices of the rigid plate. Note: Depending on how you sketched your mechanism, the nodes you select may not be nodes 5, 6 or 7. It is sufficient to select the nodes indicated in the preceding figure.
5.3.5
Define loads
General commands Applying loads 1) Click on the Loads button. 2) Click on the Create button. 3) Select Force or Moment from the drop down menu. 4) Type the magnitude of the desired load in the text box.
2nd
Example commands Applying loads
Loads Create
Force parameters
1st
5) Click on the node to which the load should be applied. The head of the vector representing the load is always represented in the sketch window as resting on the node it is acting upon.
- 35
1) Click on the Loads button. 2) Click on the Create button. 3) Select Force from the drop down menu. 4) Enter Fx = 1, Fy = 0, Fz = 0. As we are working in inches-pounds units, forces are assigned in pounds. 5) To apply the load, click on the node between the 1st and 2nd links/beams.
5.3.6
Add centroids
Centroids are added to the vertex of a plate/rigid body to tell CoMeT to analyze the screw kinematics of the plate/rigid body.
Example commands Adding centroids General commands Adding centroids 1) Click on the Centroids button. 2) Click on the Create button.
Centroids Create
3) Click on one or more nodes for which you want to monitor the screw kinematics. A pink triangle is added to indicate the location a new centroid.
1) Click on the Centroids button. 2) Click on the Create button. 3) Click on the apex of the rigid plate, e.g. the instant center. A pink triangle is added to indicate the location of the centroid.
5.3.7
Remove construction geometry
Before we can have a translatable (so MATLAB can analyze) mechanism sketch, we must remove the free floating nodes that were used to define the top of the mechanisms envelope. These nodes must be deleted before we analyze the model.
Example commands Removing the extra nodes General commands Deleting nodes
- 36
1) Click on the Nodes button.

Nodes Delete
2) Click on the Delete button. 3) Click on the nodes you wish to delete.
1) Click on the Nodes button. 2) Click on the Delete button. 3) Click on the top two nodes to delete them.
- 37
5.4
Click on the Analyze button to run the analysis. This button is located in the bottom right of the CoMeTLite GUI, above the message box. 5.4.1 Probe nodal displacements
General commands
Example commands Optional: Scaling the amplification factor You may wish to scale the ampfactor by moving the slider, then clicking on the Plot button to update the display.
Main Slider
Plot
Checking node displacements

Main Probe node
Node displacements 1) Click on the Main button. 2) Click on the Probe node button. 3) Click on a node to see how it was displaced.
39.8 radians
1) Click on the Probe node button. 2) Click on node at the apex of the plate (see figure above).
- 38
Our first guess was pretty close, the parasitic errors in x and y are less than 2 micro-inches. Unfortunately, the range is 10 micro radians too low. To fix this, we will re-enter Edit mode and change the cross sections of the beams to reduce the rotation stiffness of the mechanism. Modify beam parameters 1) Click on the Edit button to re-enter Edit mode.
Beams
Modify beam parameters 1) Click on the Edit button to re-enter Edit mode. 2) Click on the Beams button. 3) Click on the Modify button. 4) Click on the beam you wish to modify. 5) Change the beam parameters. 6) Click on the Update Last button at the bottom of the screen.
Modify
Update Last
2) Click on the Beams button. 3) Click on the Modify button. 4) Click on the 1st link/beam. 5) Change the width, w, of the beam from 0.1 to 0.09 inches. 6) Click on the Update Last button at the bottom of the screen. 7) Click on the 3rd link/beam. 8) Change the width, w, of the beam from 0.1 to 0.09 inches. 9) Click on the Update Last button at the bottom of the screen. Re-evaluate node displacements 1) Click on the Analyze button to re-enter the analysis mode. You may wish to scale the ampfactor by moving the slider and then clicking the Plot button to update the display.
Node displacements 1) Click on the Main button. 2) Click on the Probe node button. 3) Click on a node to see how it was displaced.
- 39
Main Probe node
54.6 radians
2) Click on the Probe node button. 3) Click on node at the apex of the plate (see figure above). From this information, we may make three important observations: A. The parasitic errors in x and y are less than 2 micro-inches. B. The half range is now larger than the 50 radian requirement. C. The performance of the mechanism is very sensitive to beam thickness (we only changed it by 0.010 inches) and achieved nearly a 25% change in performance. Tolerances on this dimension will be key. Checking stresses
Main Probe other
Stress and reaction forces 1) Click on the Probe other button 2) Click on the middle of the link/beam (not a node) to activate a display which shows the reaction forces on the link/beam and stress in the link/beam. If a stress value is not displayed, click on the Configure button in Analyze mode and check the Compute stresses check box, then repeat steps 1 and 2.
Stress
1) Click on the Probe other button. 2) Click on the middle of the links/beams (not on a node) to query the reaction forces on the links/beams and maximum
- 40
stress within the links/beams. 3) The stress in each beam is less than 10% of the yield stress of 100 000 psi. Checking screw theory kinematics
Main Probe other
Checking screw theory kinematics 1) Click on the Probe other button. 2) Click on the screw axis, represented by an
.
Position & orientation
The position and orientation of the screw axis are displayed.
1) Make sure the Probe other button is still selected. 2) Click on the screw axis symbol, represented by an
The x-y position of the screw axis (instant center) is close enough to the desired position to prove that this mechanism concept is a reasonable approach to pursue. We could continue to improve the accuracy of the analysis through iteration. Optional: Save your work 1) Click on File menu, select Save as and provide a file name. Saving your work 1) Click on File menu, select Save as and provide a file name.
- End of example -
This tutorial exercise has shown how CoMeT-Lite can be use to validate mechanism concepts. At this point we end the tutorial, however the reader should realize that the design engineer would likely continue the analysis by improving the node position accuracy, analyzing the stiffness and analyzing the load capacity of the flexure. A reasonable next step would be to re-enter Edit mode and reposition the nodes to be closer to their intended positions, then perform another analysis.
- 41
- 42
6 Additional Information
6.1 Node numbering
CoMeT-Lite renumbers nodes during analysis, making the grounded nodes the higher number nodes. As a result, Node 1 may no longer be Node 1 after switching into Analyze mode. This renumbering process will be removed from the program in the next release of the software.
6.2
Help functions - Messages posted to the message box in the lower right corner - Mouse hover messages that appear if the mouse cursor remains over a button, field, or field label for one second
CoMeT-Lite provides helpful hints and instructions embedded in the GUI. These include:
6.3
Model constraint and topology - A fully formed or translatable model that can be analyzed must contain AT LEAST a. One beam b. One grounded node c. One load - There are some topological requirements: a. Structure must not be under constrained. Every node must be connected, directly or indirectly, to ground. b. Grounded nodes should not be loaded or assigned a centroid.
A few things are not immediately apparent and should be noted below:
6.4
Matlab CoMeT-LITE compatibility
CoMeT-Lite has been designed in and tested with Matlab Release 13, version 5.1 (service pack 1). Based upon our experience, it is likely that CoMeT-Lite will work with version 6.5.0.
6.5
Font sizes in CoMeT-Lite
In the full version of CoMeT, users may set font sizes and colors. This capability has been restricted in CoMeT-Lite to simplify the installation procedure. If you should find the fonts too small or large, contact Prof. Culpepper to obtain a customized copy of CoMeT-Lite with the proper font sizing for your screen resolution.
- 43
7 The CoMeT-Lite GUI

The GUI is broken into the following sections: Main menu bar Mode options Sketch window Mode buttons
Main menu bar Mode options Thumb-nail view
Option tools Message window
Thumb nail view
Option tools Sketch window
Mode buttons Message window
Figure 3: CoMeT-Lite Graphical User Interface (GUI) 7.1 Menu bar General CoMeT-Lite commands may be issued via menus in the menu bar. File menu Command Description
New Load Save As Save Set Path Print Exit CoMeT Make a new CoMeT file Open a file Save a file as another file name Save a file Set the directory where files are saved by default Print the current window Exit CoMeT-Lite and close the window
View menu
Command Description
Standard Choose a standard view: - Planar/ISO: - Swap views: Re-center Rotate Zoom Sketch window = Planar Thumbnail view = Isometric Swap the sketch & thumbnail views
- View from below: Reverse view point Re-center view by clicking on the sketch window Rotate view by clicking & dragging in the sketch window Zoom in by clicking two corners of a region of interest
- 44
Auto Scale Done
Adjust the view to match the current mechanism size Return to main CoMeT-Lite GUI
Preference Menu
Command Description
Change Material Change Units Color scheme Selecting Save Current Preferences Reset Preferences to Default Change material properties Change unit system Set CoMeT-Lite GUI color scheme Disabled in CoMeT-Lite Save user preferences to CoMeTPrefs.mat. Reset preferences to the original installed default values
Help Menu
Command
CoMeT help About CoMeT
Description
CoMeT-Lite help, not available in beta release Display information about CoMeT-Lite
7.2
Message box
The message box contains the last fifty helpful hints, directions and alerts.
7.3
Mode menu
The mode menu is used to switch between the Edit mode and the Analyze mode. Comet Advanced has additional modes which are listed in sections 7.3.3-7.3.5. New modes currently under development are listed in sections 7.3.6-7.3.10. 7.3.1 Edit mode
Edit mode is used to create the geometry of a mechanism, specify loads, specify boundary conditions, assign units and assign material properties.
- 45
Options used to create, modify and delete model components are shown in the following figure.
Figure 4: Commands available in Edit mode

The Mode options and corresponding parameters are summarized in the following table. Note: The Create or Modify buttons must be selected in each mode to access the parameters.
Edit mode options and parameters Option Parameters Description

Beam CoMeT-Lite models four types of beam elements: - Rectangular cross-section - Circular cross-section - Tapered cross-section and length - Curved Different properties are required according to beam type. The theta x option window sets the beam rotation about its x axis (axis defined along a vector from a beam starting point to an ending point). Beams can be created between nodes or by clicking on a start and end point.
Nodes
Nodes are points in space. In CoMeT-Lite, one can define the position of a node by clicking a mouse or by keying in the position. CoMeT-Lite only allows nodes that are: - Free to move in all 6 DOF (Blue dots) - Coupled between beams (Blue dots between beams) - Grounded to constrain all 6 DOF (Black squares)
- 46
Load
Two load types may be applied in CoMeT-Lite: - Forces [Fx, Fy, Fz ] - Moment [x, y, z] In the Edit mode, one can define the magnitude and direction of loads. Loads may only be applied at nodes.
Centroid
A centroid may be assigned to a node to indicate that the user wants CoMeT-Lite to determine the screw kinematics (e.g. instant center) of this point when it analyzes the mechanism. See section 5.3.6 for demonstration and more explanation.
Plate
Users can create plates by picking three or more nodes in the main plot view. Plates are infinitely rigid bodies contained within a compliant mechanism. See section 5.3.4 for demonstration and more explanation.
7.3.2
Analyze mode
The Analyze mode is used to trigger the MATLAB analysis of the mechanism and to study qualitative and quantitative results. The Analyze mode has two options: Main and View. The Main option has three tools: (1) Configure (2) Probe node (3) Probe other
- 47
Main option tools Parameters

Configure
Description
With the Configure tool, one can set the scale of motion/displacement scaling. This scaling, called ampfactor, is useful for mechanisms where the displacement/motion under load is too small to see at a 1:1 scale. For instance, the ampfactor is set at 8800 in the illustration at left. The beam width is used to define the thickness of the beam grphic displayed in the window. This does not change the geometry of the beam, it only changes the graphics display of the beam.
Probe node
Probe nodes by clicking on them. When a node has been selected, you may view how the node has displaced.
Probe other: Beam probe
The following information can be obtained by probing a beam with the Probe other tool: (1) Reaction forces (2) Reaction moments (3) Stress
- 48
Probe other: Centroid probe (
The following information can be obtained by probing a centroid with the Probe other tool: (1) Centroid displacements (2) Relate actuator forces to centroid motions FA = Vector of actuator forces applied to a mechanism XC = Vector of centroid displacements/rotations and X C = S F FA S Finv X C = FA (3) Relate actuator displacement inputs to centroid motions XA = Vector of actuator displacements applied to a mechanism XC = Vector of centroid displacements/rotations and S Xinv X C = X A XC = SX X A
Note after clicking on a matrix call button (e.g. the SF button in the illustration at left), the matrix appears at the MATLAB command prompt within the MATLAB GUI, not within the CoMeT-Lite GUI. We are working on a more straight forward means to provide this data within the CoMeT-Lite GUI.
Probe other: Screw axis ( )
The following information can be obtained by probing an instant screw axis or instant center with the Probe other tool: (1) Location of the instant screw axis/instant center (2) Orientation of the instant screw axis/instant center In 2D, the instant screw axis is seen as an instant center.
7.3.3
Sensitivity mode
This module is available in advanced CoMeT only. While using this module, one may determine sensitivity of mechanism performance to variations in mechanism geometry and loading. This module is designed primarily for use in tolerance analysis. 7.3.4 Optimization mode
This module is available in advanced CoMeT only. The module is used to optimize various mechanism attributes (mass, deflection, stress, etc) via multiple input/criteria optimization. 7.3.5 Diagnosis mode
This module is available in advanced CoMeT only. This module is designed to analyze the components of a mechanism and provide design feedback which diagnosis which parts of the mechanism are most and least useful in achieving a desired kinematic goal. 7.3.6 Plasticity
This module is presently under development. The module is being designed to analyze the kinematic and mechanics behavior of mechanisms for which parts of the mechanism must be plastically deformed. For instance, this module may be used to design the compliant mechanisms and flexures that are plastically deformed to obtain alignment. Practical examples may be found in plastic deformation of hinged flexures used in fiber optic alignment and laser cavity alignment.
- 49
7.3.7
Folded kinematics of 3D compliant mechanisms
This module is under development. A major focus of PSDAM research is to develop synthesis tools, manufacturing processes and best practices/rules of thumb that enable the formation of monolithic 3D compliant mechanisms from 2D sheets of material. This module will determine the kinematics of the 3D mechanism and the shape of the 2D template which can be formed or folded (ala origami) to make a 3D mechanism. 7.3.8 Thermal expansion
This module is under development. This module is designed for use in precision mechanism design where the thermal expansion of a compliant mechanism may cause unwanted errors in its kinematic behavior. 7.3.9 Dynamic response
This module is under development. The module is designed to predict the natural frequencies and mode shapes for the 1st, 2nd and 3rd modes. The module is target for use with spatial (6 axis) compliant mechanisms. 7.3.10 Reconfigurability This module is under development. The module is designed to identify components of the mechanism that may be actively actuated/controlled and thereby actively modify the behavior of the mechanism.
- 50
8 CoMeT-Lite installation
CoMeT-Lite Beta does not have an automated installation. Fortunately manual setup is simple and requires less than 10 minutes. The reader should complete the directions exactly as they are laid out. We recommend that you close all programs and log on as Administrator. Installation consists of four steps: 1. Download CoMeT-Lite files 2. Unzip CoMeT-Lite files 3. Create a directory which will house the CoMeT-Lite files 4. Copy CoMeT-Lite files into the directory created in step 3
8.1 Installing CoMeT-Lite MATLAB must be installed before you install CoMeT-Lite. MATLAB should be closed down during the installation. Step 1: Download CoMeT-Lite files
Open a web browser and go to http://compliantmechanisms.org. The most recent download and upgrades may be found by clicking on the Design Tools link. Download the file CoMeT-Lite_X.Y.zip to your computer (X and Y represent version numbers), making sure to keep note of the location to which you are saving the file.
Step 2: Unzip CoMeT-Lite files

You will need an unzipping program such as Winzip (winzip.com) to unzip the CoMeT-Lite files from the zip file you downloaded. Unzip the files, keeping note of the location to which you extracted the files. You will need to copy these files in the next step.
Step 3: Create a directory to contain CoMeT-Lite files

Create a directory called comet within the MATLAB program or Matlabroot directory. For example, if MATLAB is installed in c:\software\matlab\, then the Matlabroot directory is c:\software\matlab.
Step 4: Copy CoMeT-Lite files

Copy all CoMeT-Lite files and folders you unzipped in step 2 to the comet directory created in step 3.
- 51
8.2 Launching CoMeT-Lite 1. Start MATLAB 2. Change the working directory to the directory where the CoMeT-lite files were copied 3. Type cometlite at the MATLAB command prompt A new window showing the CoMeT-Lite GUI will appear. You may then start using CoMeT.
8.3
Troubleshooting
1) Reboot the computer 2) Log on as Administrator and launch CoMeT-Lite, verify the CoMeT-Lite software runs properly 3) Log off the Administrator account 4) Log on with your user account and verify the CoMeT-Lite works properly
We recommend the following after installation:
If CoMeT-Lite works when you are logged on as Administrator and does not work properly when you are logged on with another user account, you may need to set the security permissions on the Matlabroot directory and the comet directory to allow your user account to read/write to these folders. See windows help for instructions on how to do this. Should you have other types of problems with this installation, please erase the installation, reboot the computer and retry the installation. If you are unable to complete the installation, email Prof. Culpepper (culpepper@mit.edu) with a detailed description of the problem/error messages.
- 52
Final page of document
- 53
- 54
Compliant Mechanism Tool
- 55

Comet: Co Me T

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Comet: Co Me T

Uploaded by

Copyright:

Available Formats

CoMeT-Lite Users Guide 1.

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

EXAMPLE: BAR IN TENSION................................................................. - 10 3.1 3.2

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

THE COMET-LITE GUI ............................................................................ - 44 7.1 7.2 7.3

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

1 License, registration, system requirements & contacts

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

CoMeT-Lite as a design tool

Mesh model & analyze t~10s of minutes 4

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

Getting the most out of CoMeT-Lite with Tablet PCs

Analysis & iteration Sensitivity

B: CoMeT-Lite analysis procedure

A: 2.000 class project: x-y nano-manipulator

B: Students prepare for nano-manipulator contest

Figure 2: Student design project Nano-manipulator with x-y compliant mechanism

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

The nature and accuracy of CoMeT-Lite modeling

Organization and layout of this document

See section 8 for installation instructions.

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

3 Example: Bar in tension

Example: Rod in tension

Geometry - Length L = 1.00 m - Height h = 0.05 m - Width w = 0.05 m

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

Set material properties

Define topology, loads and constraints

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

Create beam elements

Example commands Sketch beams

Rectangular Theta x w and h

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

Adjust position of rod endpoints

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

1) Click on the Nodes button. 2) Click on the EZ +/- Ground button.

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

Solve and query mechanism kinematics and mechanics

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

Probe nodal displacements

Example commands Resizing the view and mechanism ampfactor

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

4 Example: Cantilever beam with multiple loads

Example: Cantilever beam in combined loading

Loading Fx = 4000 N Fy = -2000 N Mz = 1000 N-m

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

Define topology, loads and constraints

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

View Rotate Grounded node Free node

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

5) To apply the load, click on the node located at (1,0,0).

Loads Create Node

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

Solve and query mechanism kinematics and mechanics

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

Example commands Checking node displacements

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu

MIT Precision Systems Design and Manufacturing Laboratory http://psdam.mit.edu