See discussions, stats, and author profiles for this publication at: https://www.researchgate.

net/publication/272995201

Development of a Four bar Compliant Mechanism using Pseudo Rigid Body

Model (PRBM)

Article  in  Procedia Materials Science · December 2014

DOI: 10.1016/j.mspro.2014.07.174

CITATIONS READS

9 715

5 authors, including:

Bhagyesh Deshmukh Sujit Suresh Pardeshi

Walchand Institute of Technology College of Engineering, Pune
78 PUBLICATIONS   357 CITATIONS    17 PUBLICATIONS   47 CITATIONS   

SEE PROFILE SEE PROFILE

Roohshad Mistry Sachin Kandharkar

Walchand Institute of Technology MESCOE,Pune
7 PUBLICATIONS   19 CITATIONS    5 PUBLICATIONS   18 CITATIONS   

SEE PROFILE SEE PROFILE

Some of the authors of this publication are also working on these related projects:

Development of Micro WEDM setup View project

Covid-19 Data Analysis at regional level (India) View project

All content following this page was uploaded by Sujit Suresh Pardeshi on 03 July 2017.

The user has requested enhancement of the downloaded file.

 Available online at www.sciencedirect.com

ScienceDirect
Procedia Materials Science 6 (2014) 1034 – 1039

3rd International Conference on Materials Processing and Characterisation (ICMPC 2014)

Development of a Four bar Compliant Mechanism using Pseudo

Rigid Body Model (PRBM)
Bhagyesh Deshmukha*, Sujit Pardeshib, Roohshad Mistryc, Sachin Kandharkard,
Santosh Waghe
a,c
Walchand Institute of Technology,Ashok Chowk, Solapur,413005, India
b,d,e
College of Engineering, Pune, 411005, India

Abstract

A flexure based compliant parallel (4-bar) mechanism for linear translational motion actuated via a precision slide has been
proposed. Due to the flexures a miniaturised mechanism is possible overcoming the limitations of rigid link mechanisms. In
addition since a compliant mechanism has a monolithic structure no assembly is required. The compliant mechanism is designed
using Pseudo Rigid Body Model (PRBM) approach and results obtained are compared with finite element analysis. An
experimental setup is developed incorporating a microslide as an actuator for 4-bar compliant mechanism and displacement is
measured using 3D optical profilometer. The performance of the compliant parallel mechanism demonstrated by experiments
validates the simulation results and hence PRBM results. The effect of point of motion actuation on performance of mechanism is
also investigated.
©©2014
2014Elsevier
The Authors. Published
Ltd. This is an openbyaccess
Elsevier Ltd.
article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/3.0/).of the Gokaraju Rangaraju Institute of Engineering and Technology (GRIET).
Selection and peer-review under responsibility
Selection and peer review under responsibility of the Gokaraju Rangaraju Institute of Engineering and Technology (GRIET)

Keywords: 4-bar mechanism; compliant mechanism; FEA

1. Introduction
A four bar chain/mechanism is a proven mechanism which can effectively transfer the input motion in parallel
direction and can be used for typical applications such as microstages, slides etc.
Nomenclature

b thickness of mechanism
r radius of flexure
t neck thickness of flexure
* Corresponding author. Tel.: +91-9028966473;
E-mail address:dbhagyesh@rediff.com

2211-8128 © 2014 Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/3.0/).
Selection and peer review under responsibility of the Gokaraju Rangaraju Institute of Engineering and Technology (GRIET)
doi:10.1016/j.mspro.2014.07.174
 Bhagyesh Deshmukh et al. / Procedia Materials Science 6 (2014) 1034 – 1039 1035

Compliant Flexure mechanisms can result into long service life while avoiding the stress concentration. One of the
typical advantages of Compliant Mechanism is to attain precise displacements and flexibility to obtain motion in
desired direction (2005). Compliant mechanisms are free from backlash and require least lubrication (2003). The
Compliant mechanisms are designed to derive expected mobility from the elastic deformation of flexure hinges and
hinge design is a critical aspect. The models for Compliant Mechanisms can be established considering either whole
mechanism as compliant/flexure (distributed compliance approach) or by replacing rigid links (pin joints) by flexure
hinges while members are kept rigid (lumped compliance approach). Kota S. et al, (2005) and Lobontiu N (2002)
discussed a flexible means of connecting parts using large-displacement compliant joints. Flexible joints utilize the
inherent compliance of a material rather than only restraining such deformations. Jiaguang L. et al, (2006) explained
the design of compliant mechanism by the kinematic synthesis approach based on the traditional rigid-body
kinematics using PRBM, where the design is firstly performed by synthesizing a rigid-body mechanism, and then the
flexibility is introduced with flexure hinges. Baker S. and Howell L. (2002) advocated use of PRBM for designing
compliant mechanisms in which the flexures are replaced by the torsional springs having equivalent stiffness so as to
treat the mechanism as a rigid body mechanism in order to simplify the design methodology while Lyon (2003) gave
the general PRBM for a four bar mechanism with unequal link lengths. Madhab G. B. (2007,2010), gave the
formulation of a PRBM for a Compliant Micromanipulator and obtained the relation for the input force and
displacement which is used as basis in present research. Mehdi Rezaei (2006) also presented PRBM for the 4-Bar
mechanism in which one link is flexible indicating a typical case of distributed compliance. Smith (2000) mentioned
the equivalent torsional stiffness for the circular flexure hinge about Z-axis. PRBM and simplifies the equation
between input force and resulting displacement. This paper represents development of PRBM and validation using
simulation and experimental method for a compliant 4-bar micromechanism which can be helpful in typical
industrial applications.

2. PRBM for Compliant 4-bar Mechanism

While carrying out the PRBM analysis of a 4-bar compliant mechanism, the hinges (flexure) in Fig. 1 (a) are
replaced by torsional springs as shown in Fig. 1 (b). The input force (Fin) causes horizontal deflection (X1), which
deflects the hinges by very small angle ∆θ.

(a) Compliant form (b) PRBM

Figure 1 4-bar mechanism
Using energy equation the relation between input force and resulting displacement is obtained as
ʹ„– ଶǤହ ଵ
୧୬  ൌ Ͷ ቈ ቉ (1)
ͻπ” ଴Ǥହ ଶ
The equation (1) can be rearranged in terms of displacement as
ͳ ͻɎ” ଴Ǥହ
ଵ ൌ ୧୬ ଶ (2)
Ͷ ʹ„– ଶǤହ
The relevant dimensions considered for analysis are : b =1 mm, t =1 mm and r = 1.5 mm, and OA = 39.35 mm.
FEA analysis was carried out for the compliant 4-bar mechanism considering plain carbon steel (E = 2x105 N/mm2),
and PRBM analysis for a Pseudo Rigid Link 4-bar mechanism and the results are illustrated in Table 1. Carbon Steel
is selected as the material for four bar compliant mechanism due to the inherent spring property. The springing
1036 Bhagyesh Deshmukh et al. / Procedia Materials Science 6 (2014) 1034 – 1039

action stores the strain energy and is useful for self-retraction of the mechanism. Detailed displacement analysis for
motion transfer has been carried out and the resultant magnitude of motion is similar to the input. The percentage
error (in input displacement by PRBM and FEA) throughout the analysis is almost constant irrespective of change in
magnitude of force; indicating correctness of the model and methodology adapted. The various displacements using
FEA, PRBM and Geometric Amplification are obtained and cited in the Table 1.

Table 1 Resulting displacement

Force X1 PRBM X1 Simulation X2 Simulation

% Error
(N) (mm) (mm) ( mm )
0.1 0.0034 0.0032 0.0032 4.5118
0.2 0.0067 0.0064 0.0064 4.5118
0.3 0.0101 0.0096 0.0096 4.4123
0.4 0.0134 0.0128 0.0128 4.5118
0.5 0.0168 0.0160 0.0160 4.5118
0.6 0.0201 0.0192 0.0192 4.5118
0.7 0.0235 0.0224 0.0224 4.5118
0.8 0.0268 0.0256 0.0256 4.5118
0.9 0.0302 0.0288 0.0288 4.5118
1 0.0335 0.0320 0.0320 4.5118
2 0.0670 0.0640 0.0640 4.5118
3 0.1005 0.0961 0.0961 4.4123
4 0.1340 0.1280 0.1280 4.5118
5 0.1676 0.1600 0.1600 4.5118
6 0.2011 0.1920 0.1920 4.5118
7 0.2346 0.2240 0.2240 4.5118
8 0.2681 0.2560 0.2560 4.5118
9 0.3016 0.2880 0.2880 4.5118
10 0.3351 0.3200 0.3200 4.5118
Fig. 2 indicates the comparative representation of Input Force Vs displacement using PRBM and FEA model
developed; and the resulting displacements predicted are in close agreement.

Figure 2 Input Force Vs displacement

 Bhagyesh Deshmukh et al. / Procedia Materials Science 6 (2014) 1034 – 1039 1037

The resultant displacement for a force range 0.1-0.1-1N and 1-1-10N is obtained by simulation and is represented
in Fig.3 (a) and (b) for extreme load conditions (0.1N and 10N). The displacement plot shows that the upper link AB
is showing uniform motion transfer.

(a) Force 0.1N (b) Force 10N

Figure 3 Displacement plot using Simulation

3. Experimentation of Compliant four bar mechanism

In continuation, rigorous experiments are carried out in order to compare the analytical and simulation results for
compliant four bar mechanism. The input motion is provided via a precision actuator (a microslide) on the basis of
the displacements obtained via simulation results and the output was recorded using a 3D Optical Profilometer.

Table 2 Observations during trial

Input Displacement Output displacement by Output displacement by

(μm) Simulation (μm) Experimentation (μm)
40 40 58
80 80 84
120 120 106
160 160 153
200 200 184
Table 2 gives the detailed results during trials using compliant 4-bar mechanism made up of Carbon steel for
displacement (40-40-200 μm) provided at the input link and corresponding output displacement was observed. It is
observed from Fig.5 that simulation results are in close agreement with the experimental results.

Figure 4 Results: Experimental and Simulation

1038 Bhagyesh Deshmukh et al. / Procedia Materials Science 6 (2014) 1034 – 1039

4. Discussion

The experimental results for output displacement of a compliant 4-bar mechanism are illustrated in Table 2 by
applying the input force/displacement at point ‘A’ as illustrated in Fig.1. An investigation into effect of point of
application of motion on resulting displacement is undertaken. In simulation, the input force is applied at various
points on link ‘OA’ from point ‘A’ towards fulcrum point ‘O’ and minimum resulting displacement is observed at
point ‘O’. The simulation results are in tune with plot Fig.3 which illustrates the zone of ‘Blue’ colour representing
nearly zero displacement. The displacement increases and is maximum at the upper link ‘AB’ represented by ‘RED’
colour. The deflection of flexures at point ‘O’ and point ‘C’ is very small (Blue colour) and hence flexure at point
‘O’ and point ‘C’ can be eliminated for the considered force range.

Undesired
displacement in
Y-direction
Flexure ‘A’

Figure 5 Undesired displacement

Displacement of upper link ‘AB’ for intermittent positions is parallel to the fixed link ‘OC’ however plane of
traverse is not parallel to the base link ‘OC’. An undesired displacement in Y-direction is observed as illustrated in
Fig.5. For the force range of 0.1N to 10N the travel of input link ‘OA’ and output link ‘BC’ is observed by
simulation and found to be parallel to each other.
This mechanism is found suitable for applications involving parallel motion transfer between the input link ‘OA’
and output link ‘BC’. The compliance of flexures has resulted into moving the link ‘AB’ towards the base link ‘OC’
marginally and hence this mechanism can be found suitable for stage of typical application which needs some
pitching motion. For a different force range, parallel motion transfer of upper link ‘AB’ with respect to the base link
‘OC’ needs to be investigated. Upper link ‘AB’ may be confined to give a parallel line motion however will result
into restricted range of motion and stress at the flexures can become a critical issue.

5. Conclusion

A Displacement Model for Compliant 4-bar mechanism has been developed using PRBM and verified using
simulation. PRBM simplifies the design of the compliant mechanism where the flexure is replaced by equivalent
torsional stiffness of the hinge and the mechanism is modeled as a rigid body model. Use of the classical rigid body
equations (such as energy equation) on proposed PRBM makes the design and analysis simple. Simulation trials
have also reduced the number of prototypes to be manufactured and tested. The experimental results obtained in
current work validate the importance of combination of PRBM and FEA techniques in analysis for compliant
mechanisms.

Acknowledgement

The authors dedicate this work to Late Prof. Dr. S. R. Kajale for being mentor while carrying out the above cited
work.
 Bhagyesh Deshmukh et al. / Procedia Materials Science 6 (2014) 1034 – 1039 1039

References

Baker M. and Howell L., 2002, “On-Chip Actuation of an In-Plane Compliant Bistable Micromechanism”, Journal of Microelectromechanical
Systems, Vol.11, No. 5, pp.566-567
Jiaguang L., Yibao Chen, Zhen Luo, 2006, “ Design of Monolithic Compliant Mechanisms for Microactuator Using Topology Optimization
Schemes”, Proceedings of the 6th World Congress on Intelligent Control and Automation, June 21-23, Dalian, China, pp. 6465-6469
Kota S., Brian P. Trease, Yong-Mo Moon, 2005, “Design of Large Displacement Compliant Joints”, Journal of Mechanical Design, Vol.127,
Number 4, pp.788-798
Lobontiu N., 2003, “Compliant Mechanisms: Design of Flexure Hinges”, CRC Press, pp.1-138
Lobontiu N., Jeffrey S.N Paine, Edward O’Malley, Marc Samuels, 2002, “Parabolic and hyperbolic flexure hinges: flexibility, motion precision
and stress characterization based on compliance closed-form equations”, Journal of the International Societies for Precision Engineering and
Nanotechnology 26, pp. 183-191
Lyon, 2003, “The Pseudo Rigid-Body Model for dynamic predictions of Macro and Micro Compliant Mechanisms”, PhD Thesis, Brigham Young
University, pp. 81 -85
Madhab G. B., 2007, “A GA-based optimization of Compliant Micro-Manipulator”, Towards Synthesis of Micro-/Nano-systems, Part 3, DOI:
10.1007/1-84628-559-356, pp.319-320
Madhab G. B., Kumar, C. S. and Mishra P. K., 2010, “Modeling and Control of a bio-inspired microgripper”, International Journal of
Manufacturing Technology and Management, Volume 21, Number 1-2, pp.160 - 175
Mehdi Rezaei, 2006, “Dynamic Behavior Analysis of Compliant Micromechanisms”, Journal of Physics, International MEMS Conference,
doi:10.1088/1742-6596/34/1/096, Conference Series 34, pp.583–588
Smith S.T. and Chetwynd D.G., 2005, “Foundations of Ultraprecision Mechanism Design”, Taylor and Francis Books Ltd., Gordon and Breach
Science Publishers, Development in Nano Technology Volume 2, pp.92-93
Smith S.T., 2000, “Flexures: Elements of Elastic Mechanisms”, CRC Press

View publication stats