Materials Today: Proceedings 59 (2022) 208–215

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Design and analysis of SLS mechanism for hand operated vibrating

Machines
Sheefali Balapure, Nitinkumar Anekar (‘‘Neo”) ⇑, Sanket Barkul, Abhijeet Banarjee
School of Mechanical Engineering, Dr. Vishwanath Karad MIT-WPU, Kothrud, Pune 411038, India

a r t i c l e i n f o a b s t r a c t

Article history: In engineering practice, mechanical vibration plays a very important role, such vibrations can lead to neg-
Available online 3 December 2021 ative issues. The vibration is caused due to various factors like restrained machine vibration which can
lead to wear and tear or damage of the equipment. Vibrating machinery can create unnecessary sound,
Keywords: cause protection issues and lead to degradation. It can also cause machinery to use more power and may
Scissor Like Structure (SLS) damage the condition of the product. In order to reduce the negative effect of vibration a design is pro-
Quasi Zero Stiffness (QZS) posed such that it will not only reduce the vibration to a certain extent but also support the human body
Hand-Arm Vibration syndrome
while using equipment like jackhammers, heavy drills, etc. The Scissor Like Structure (SLS) can be applied
Negative stiffness structure
Modal analysis
in many other engineering applications to achieve higher quality vibration control. In this article a SLS
Exoskeleton model is designed with the help of CATIA. Various parametric influences are considered and after taking
Resonant frequency suitable dimensions the model analysis is done. The calculations were plotted with the help of MATLAB.
And, considering all the negative issues caused by vibration a user-friendly exoskeleton is designed. With
help of this innovative design simulation, experiments are performed. The results demonstrate the effec-
tiveness and efficiency of this model and also eliminates the chances of failure. At the end the natural
frequency of the SLS is calculated.
Copyright Ó 2022 Elsevier Ltd. All rights reserved.
Selection and peer-review under responsibility of the scientific committee of the Third International Con-
ference on Recent Advances in Materials and Manufacturing 2021

1. Introduction
In this article, the targeted area is to ease the process of manag-
ing heavy load equipment like jackhammers or road breakers so
we have designed and analysed a hand operated passive exoskele-
ton which is inspired by bird limb structure (Fig. 1). It is passive,
user-friendly an affordable which is basically used in vibration
subduing during any mechanical processes. The specialty of this
structure is that it can subdue vibration transmission even with
heavy load so there may be heavy equipment or normal vertical
drill, this structure can provide support to both types of machines.
The main concept of the structure was opted from natural things
for example, woodpeckers avoid any brain hemorrhage or damage
with help of its beak structure which naturally is designed in such
a way that high frequency vibrations never reaches to the brain [3].
This is possible due to their respective structure which plays an
important role in absorbing the vibration in order to protect
themselves.
⇑ Corresponding author.
E-mail address: nitin.anekar@gmail.com (N. Anekar).
Here the modal analysis is checked for resonance and when
compared it with other results from literature work a better solu-
tion is given out as for the first time two cases are considered for
the SLS that is with spring and without spring. Also, chances of
elimination are discarded by checking the resonance of the system.
Vibration can cause changes in the nervous system and they can
even damage a few joints. Collectively, these effects are known as
Hand-Arm Vibration Syndrome and they can be avoided with the
help of the structure proposed in this article [1]. The SLS also gives
hand support while operating any mechanical equipment. Also, the
design overcomes the limitations of traditional techniques for
vibration reduction. Further study and improvement in the current
system will be focusing on the reduction of the size and enhance-
ment in structural parameters. The potential negative effect comes
from the size of the exoskeleton and with more study and research
this drawback will be solved which will make it more user friendly
[2]. The technical innovation can be easily developed into wearable
anti-vibration technologies which will handle a wider variety of
vibrating equipment.
This structure has great potential and promising future in vari-
ous engineering vibration control issues. Xingjian Jing and Linli

https://doi.org/10.1016/j.matpr.2021.11.087
2214-7853/Copyright Ó 2022 Elsevier Ltd. All rights reserved.
Selection and peer-review under responsibility of the scientific committee of the Third International Conference on Recent Advances in Materials and Manufacturing 2021
S. Balapure, N. Anekar, S. Barkul et al.
Fig. 1. Limb skeleton as X shaped structure [11].
Zhang [1] made a bio-inspired structure for anti-vibration equip-
ment. That represents a structure to absorb the vibrations. And
the system used anti vibration materials. Goverdovskiy [10]
explained Vibrations can be completely isolated if ‘‘negative’’ stiff-
ness is generated in a VIS. Lacarbonara [7] designed a novel 6
degree of freedom (6-DOF) passive vibration isolator is studied the-
oretically and validated with experiments based on the Stewart
platform configuration, the 6 DOF isolator is constructed by 6 X-
shape structures as legs, which can realize very good and tuneable
vibration isolation performance in all 6 directions with a passive
manner. Jerome E. Ruzicka et al. [11] gives the concepts of Vibra-
tion isolation with damping effects which were later explained
which later helped in the calculation part. Anekar et al. [12]
explained design and testing of unbalanced mass mechanical
vibration exciter. This article helps to develop mathematical mod-
elling of vibration structure.
2. Methodology
The fundamentals of a vibration isolating system started a long
time ago in 1978, Dange and Gore [4] viewed the nonlinear isolator
by the Pc simulation method. In 1979 scientists analysed the
results [5] of the isolator in the same system to prove that the
vibration isolation effect of the nonlinear system is noteworthy.
They made the system in such a way that it consists of non-
linear features in a small range to subdue the vibration transmissi-
bility with an appropriate nonlinear stiffness setting. Nowadays,
huge attention is attracted to the nonlinear vibration control sys-
tems. Several current articles can be seen in, serving good content
of recent advances in this active area. It is viewed that decent pas-
sive vibration control usage is possible in case that nonlinear
dynamics can be completely applied through an achievable struc-
ture design.
The article works upon quasi-zero or zero stiffness systems, or
high static low-dynamic stiffness systems demonstrate this idea
very clearly [6]. A series of new research [7] presents a bio-
inspired structure approach which combines the benefits of non-
linear dynamics and achievable structure design combined in a
solely passive manner giving brilliant vibration control perfor-
mance. The SLS is also influenced by the working of bird limbs.
The motion of the limb is considered for making a structure in such
a way that vibrations coming from the source will be absorbed
before reaching to the receiver. To implement this mechanism
which birds use for protection from the vibration quasi zero stiff-
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Materials Today: Proceedings 59 (2022) 208–215
ness is used. For the SLS design proposed in the article the major
inspiration of taking by the woodpeckers. The woodpecker’s beck
has zig-zag scales which helps them to prevent the shock and
any further damage to the brain. The structure is designed as
shown in Fig. 1 by keeping this mechanism of bird limb in mind.
It is a simple 4-layer design, one with an extended rod-length
and other as twice of the rod length of first. In the modelling, the
breaker is considered as a fixed body M2 and the two parallel X-
shaped structures are simplified into one without losing
predominance.
Two masses M1 and M2 are considered with the degree of the
system as one. The rod weight of the X-shaped structure can also
be taken in account equivalently in the upper mass M1.
The spring used is a conservational linear type with a stiffness
K. Furthermore, influence of various parameters is evaluated. The
system stimulation model is made and analysis is performed with
few parameters. After inspecting the system with different struc-
tural parameters, the complete analysis is done and desired value
of efficiency will be calculated. The modelling of the system is done
with a CATIA. Where basic link mechanism is used to model the
whole system [8].
3. Design
The principal design of this SLS is based on a bird limb as shown
in Fig. 1. This similar structure can also be observed in cranial bone
structure. The whole concept of the structure is bio-inspired as the
natural things like Trees, birds [10] which exhibits natural ability
to control vibration and balance out the forces. This structure is
designed to minimize the vibration and avoid potential damage
to operators.
3.1. Mechanism
The SLS is based on the bird limb which helps in absorbing the
vibrational waves so that the system has less dynamic stiffness.
Thus, the main principle on which the system is working is hori-
zontal quasi-zero stiffness. Quasi-zero stiffness (QZS) is a device
which acts as an isolator to adapt the tendency of high-static-
low-dynamic stiffness. For example, Cam-roller-nonlinear spring
mechanisms, where two horizontal dampers are installed symmet-
rically, are used as a negative stiffness provider to connect in par-
allel with a vertical spring. Due to beneficial nonlinear stiffness of
SLS, the vibration in heavy machines would be drastically subdue
S. Balapure, N. Anekar, S. Barkul et al. Materials Today: Proceedings 59 (2022) 208–215

when transferred to the operator handles because of the quasi-zero 1

V¼ kl ð4xÞ2 ð1Þ
stiffness deliberately created [6]. Quasi-zero stiffness mechanism 2
which is characterized by a substantial static stiffness but very lit- Lagrange function expressed as
tle (theoretically zero) dynamic stiffness. The mechanism consists
of a vertical spring acting in parallel with two more springs which, 1 1 1
M 1 y_ þ M 1 z_ þ kl ð4xÞ2
2 2
L¼T V ¼ ð2Þ
when inclined at a definite angle. The main reason for this mecha- 2 2 2
nism to be used is the negative stiffness element to get a low stiff- The Lagrange principal is
ness without having a large static deflection [13] thus QZS is

considered as the feasible fundamental concept. For mathematical d @L @L
 ¼ D ð3Þ
modelling, as shown in Fig. 2, the displacement excitation is put up dt @x @y
onto the second mass, and the system is one degree-of-freedom
system. The entire motion of the mass one is denoted by y, the base


d @L @L
excitation z, the rotation angle of each connecting rod u, and the  ¼ F 0 cosðwtÞ  D ð4Þ
dt @z @z
horizontal motion of the rotation joint in each layer of the smaller
rod length is x. The positive direction of the motion y is upward. Where L is the Lagrange function expressed as L = T-V, D the dissi-
The length of the small connection rods L1 is chosen as
and the pated energy for total damping. It can be obtained that
length of the large rods is 2x as those in the real scenario.
In a simplified way when a force is applied to the top most part D ¼ cðy_  ^zÞ ð5Þ
of a system which here we have considered as M1, the system gets Where c is the damping coefficient of the structure.
a little bit of deflection. This deflection is a change in the angle By substituting kinetic energy, potential energy and transport
theta due to vibration and applied force. When the structure is motion into the Lagrange principle, the dynamic equation can be
applied to a heavy load equipment it absorbs the vibration with obtained as
help of the X shaped structural design. Resulting in the mechanism
to work. The important part of the whole mechanism is the @x @y
M1y þ 16kl x ¼ cðy_  z_ Þ ð6Þ
moments of 4-layer links and its motion considering the spring @y @y
stiffness effect.
@x @y
M1y þ 16kl x ¼ F 0 cosðwt Þ  cðy_  z_ Þ ð7Þ
@y @y
3.2. Mathematical approach
Using Tyler series of expansion and the Harmonic Balance
The
appear for the horizontal motion of the rod L1. method the equation of transmissibility is given as,
The
appears for the horizontal motion of the rod L1. But, the qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 
 a2 þ b þ 2abcosu1 
2
spring is located between rods L2 and the ratio of (L2/L1) is chosen
as 2. Here L1 is the side length of a small structure and L2 is the side T d ¼  
 ð8Þ
 b 
length of a large structure. Thus, the spring deformation taken is
four times x. The potential energy is given as Also, the resonant frequency will be given by;
sffiffiffiffiffiffiffi
k
f0 ¼ =2p ð9Þ
M1

The parameters given below were considered as initial parame-

ters for calculations and sketching of rough models. Later these
dimensions will be verified and analyzed as per the requirement
for prototyping.

3.3. Parametric influence

Effect of mass (M1): The mass M1 stimulates descending pushing

force while operation of machine-like heavy ground drills. This
force generally varies from 5 kg to 50 kg, almost half the weight
of the operating body. This helps the user to raise the bulldozing
power and keep the structure rigid during operation. With opera-
tions set to given parameters and the same rod material, the upper
mass M can be changed to different values to examine how down-
ward force affects the vibration transmission. Though, the reso-
nance frequencies here are eliminated to a level, which is much
smaller if compared. This supports the claim that the nonlinear
stiffness property is beneficial for the model proposed in the
article.
Effect of spring stiffness (k): When considering the case with
spring for the design proposed in the article, the displacement
transmissibility of different spring stiffness shows that the vibra-
tional frequencies are dependent on the spring stiffness. As the
spring stiffness is reduced the resonant frequency and the peak
value of the transmissibility is reduced too. And, as the suppression
Fig. 2. One side of scissor structure components. is increased the stiffness ‘k’ of the system is decreased.
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S. Balapure, N. Anekar, S. Barkul et al.
Effect of damping coefficient (c): It is observed that the peak value
is inversely proportional to the damping coefficient with reference
to parameters given in Table 1. Due to linear damping, the vibra-
tion transmissibility deteriorates at higher frequency.
Effect of rod assembly angle (h): The other parameters are set to
the same setting earlier while the rod assembly is considered as
pi/6, pi/4 and pi/3. Assembly changes occur from 600 to 300
because of smaller resonant frequency becomes. This demonstrates
that the proposed system works better with QZS property. So, one
can conclude that angle of connection rods is a critical parameter
to reduce the vibration transmissions from the equipment to the
arms of the operator as shown in Table 2 [9].
4. Software modeling and analysis
4.1. Modeling
In pre-processing (Setting up the model) software is employed
to create the model, generate an adequate finite element grid,
apply the proper boundary conditions, and have a review about
the complete model. Our analysis is a Static Structural analysis. It
is in the Toolbox on the left, and needs to be inserted to the Project
Schematic by either double tapping on it, or pulling it into the
plane. This pre-processing includes meshing, modelling and FEM.
Tetrahedral mesh is used for the modeling of components. After
meshing the load is applied and connections are set then further
the properties are given. Processing is done by the software which
compiles the data provided in the pre-processor and after the anal-
ysis is done the result shown is part of post processing. Post-
processing gives an idea of the calculated results. This article iden-
tifies the pertinent issues of pre and post-processing for finite ele-
ment analysis.
It reviews the capacities that are needed for pre- and post-
processors and advises enhancements and fresh features that will
likely be generated in the near future. Standard procedure is used
in modeling of the structure. Firstly, the components were made
and meshed to get a 3D definite model. Next, load was applied to
the system. For the working model, the system is given relations
and connections and the property was set as 1 open node while
others were fixed to provide the moment in one plane. In meshing
tetrahedral meshing or tri-mesh command is used. For the process-
ing step the FEM and properties are applied as mentioned above.
And lastly, the results were given by software with a small chrome
report file. In this article two types of cases are considered while
modelling the exoskeleton. First, the system is provided with
spring attached on both the sides and in the second case the struc-
ture is without the spring. Two different Modal results are
obtained from both the cases.
4.2. Final parameters
After considering the influence of different parameters for the
working of proposed system the most appropriate dimension is
selected and the previous measurements are updated. The follow-
Table 1
Initial parameters.
Quantity Measurement
L1 100 mm
L2 200 mm
M1 15 kg
M2 20 kg
h p/6°
k 100 N/mm
D 0.1
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Materials Today: Proceedings 59 (2022) 208–215
Table 2
Final dimensions.
Quantity Measurement
L1 150 mm
L2 250 mm
L3 75 mm
M1 20 kg
M2 Human weight (kg)
k 200 N/mm
ing measurement were used for construction of the CAD diagram,
which further was considered for failure elimination test.
CATIA software was used to obtain all the results shown for the
analysis. The results show the design is safe to use as there was no
resonance found. The resonance was checked to eliminate any
chances of failure. Because if the structure would have been in res-
onance the amplitude must also be high which leads to wear and
tear of the structure. As, the resonance frequency is directly pro-
portional to the amplitude which causes structural failure that’s
why it is important to perform the Modal analysis on the structure.
During the process the natural frequency was also obtained for
both the cases that are structural design with spring and without
spring.
4.3. Modal frequency analysis
Here the modal analysis inherits the dynamic feature of a sys-
tem in terms of natural frequencies, damping factors and mode
shapes. The modal frequencies, damping coefficients, and mode
shapes associated, can be used for the structure mitigation for
vibration suppression, or driving function mitigation to avoid the
resonance situation. The figures given Figs. 3-5 were analysed in
CATIA for checking the resonance of the model. Total 10 modes
were considered to observe if the system is resonating. But, in
result no resonance was found and hence can be concluded that
there will be no failure while the system is in working. Two differ-
ent positions are shown in Fig. 3 when the system is in up and
down motion and similar for case two which is without spring it
is shown in Fig. 4. From the given modal analysis, no special low
frequency is observed which is good for vibration suppression per-
formance (Fig 6).
MATLAB software is used by engineers for designing, optimizing
and visualizing data and to simulate and handle hardware. Here,
MATLAB is used for parametric simulation and calculation of dis-
placement transmissibility. Also, here MATLAB used to provide
accurate data analysis for graphical representation of results in
form of displacement transmissibility vs frequency. Furthermore,
it calculated the data to plot the graph of displacement transmissi-
bility against frequency considering variation of parameters. First
step was to design a code which input parameters and the give
result for required Td various functions for magnifications are con-
sidered, were checked and as parameters vary, different values for
Td, were obtained and those were plotted against the frequency. X-
axis being frequency and Y-axis being Displacement Transmissibil-
ity. The flowchart for the mentioned procedure is presented in
Fig. 7 which gives an insight into the variance of the parameters.
5. Results
The given table has frequencies from modal analysis of the SLS.
With these results it can be analysed that the structure can be well
crafted with tuning some structural parameters to get reasonable
vibration subdued performance with a decreased natural fre-
quency, while taking in the view of high loading capacity, high dis-
placement motion, and that too without any balance related issues.
S. Balapure, N. Anekar, S. Barkul et al. Materials Today: Proceedings 59 (2022) 208–215

Fig. 3. CAD modelling (a) Case I with spring (b) Case II without Spring.

Fig. 4. Frequency analysis with spring stiffness of 200 N/m.

Based on a straightforward optimization to lessen the weighted
transmissibility which increases the vibration in the frequency
range 4–50 Hz or given higher weighting in the frequency range
6–20 Hz, a better and reasonable parameter setting can be
obtained. Thus, the given dimensions are finalized for the latest
SLS CAD model. The variation caused in Td with respect to fre-
quency is shown in the graph obtained from MATLAB in Fig. 9.
Further graphs for frequency varying with number of modes
were analyzed. Two different cases were considered one with
spring and another without spring. Where we can see how the fre-
quency is varying with respect to the modes. Fig. 8 results conclude
that in both the cases with and without spring as there is an
increase in the number of modes the frequency is also increasing.
Birds have this type of structure mechanism which is used for pro-
tection from the vibration quazi zero stiffness. The proposed SLS
design was inspired by woodpeckers. The woodpecker’s beck has
zig-zag scales which helps them to prevent the shock and any fur-
ther damage to the brain. All these points in mind for this mecha-
nism of bird limb which is as shown in Fig. 1. The results shown in
Fig. 8 gives elaborated comparison with literature [7]. The two

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S. Balapure, N. Anekar, S. Barkul et al. Materials Today: Proceedings 59 (2022) 208–215

Fig. 5. Frequency analysis for structure without spring.

Fig. 6. Natural frequency (a) With spring (b) Without spring.

cases of spring effect and without spring effect are discussed for
the overall efficiency of the system in order to have a proper com-
parison. The given results clarify that the first case without spring
effect has the stability of the system is more compared to the sec-
ond case with spring. But the SLS mechanism considered spring
support to minimize the vibration of the system as it gives more
efficiency when it comes for vibration absorption. When modal
analysis is considered without spring little instability has been
detected. Another result is observed with huge rise in frequencies
from first to second mode in case of SLS with spring.
The graph shown in Fig. 9 gives a curve indicating that increase
in the nonlinear damping can suppress the transmissibility in the
resonant region and results in good isolation performance and
increasing the damping can effectively lessen the resonant high
values. Underdamped systems which have a value of less than 1.
The damping ratio is exactly 1 for critically damped systems, or
at least very close to it. Usually, systems with higher damping
ratios (one or greater) will demonstrate a high damping effect.
So, it can be concluded that the SLS structure with considered
parameters can successfully reduce vibrations and eliminates
chances of failure as the system is not in any resonance.

213
S. Balapure, N. Anekar, S. Barkul et al.
Fig. 7. Flow chart for the calculation of Td.
Fig. 8. Modal Analysis (a) With Spring (b) Without spring.
Fig. 9. Frequency vs Displacement transmissibility.
6. Conclusions
The nonlinear stiffness characteristics of the anti-vibration
structure is highly beneficial for passive vibration control, includ-
ing these following several special features simultaneously: high
loading capacity, quasi-zero stiffness, lowers stiffness with increas-
ing compression of the structural flexibility & easy to implement,
and adjustable with required parameters. The designed structure
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Materials Today: Proceedings 59 (2022) 208–215
presents a highly desirable, adjustable and passive realization of
favourable nonlinear stiffness, which is exactly necessary by sev-
eral engineering practices for vibration control. The above enables
the developed structure to be very efficient and effective in subdu-
ing excessive vibration experienced by the operator hands during
use of any heavy load equipment, without hindering the original
handling ease. It can not only significantly take down the vibration
transmission to users but also improve the demolition effective-
ness. The result from this modal analysis makes sure that at a range
of 20 to 120 Hz of frequency how will the modal react. With the
help of it, the chances of collapse are terminated. With the help
of proper boundary conditions, the system is confined from caus-
ing a resonance hence the amplitude is not increased and vibration
stays in a stable fashion without tampering the system. The devel-
opment of this innovative technology would be based on more
compact design and will further optimize the structural parame-
ters. The actual negative effect comes from the size of the exoskele-
ton, which takes space and probably decreases the handling
comfort or flexibility in horizontal drilling or demolition. This will
eventually help in investigating and improving the quality of work
on the field. For handling other kinds of vibration tools or machines
the technical innovation can be easily extended to wearable anti-
vibration technologies. Moreover, many other practical engineer-
ing issues are also under investigation for applications of the
anti-vibration structure. The system will further be analysed by
considering mass and flexibility of connecting rods in system mod-
elling, validating the theoretical results with a practical experi-
mental platform, investigating the optimal design of anti-
vibrational structure and exploring the most potential value of
the structural parameters. The future scope of the article is to
develop a mechanism using vibration absorbing materials which
will lead to comfortable, compact and optimized products which
handle other kinds of vibration tools or machines. Vibration
absorbing materials on the handle of SLS increase the efficiency
of the system. There are few modifications in existing mechanisms
that give flexibility to use at other vibrating machines to avoid
health issues caused due to vibration.
CRediT authorship contribution statement
Sheefali Balapure: Conceptualization, Methodology, Software.
Nitinkumar Anekar: Investigation, Methodology, Visualization,
Writing – review & editing. Sanket Barkul: Writing – review &
editing. Abhijeet Banarjee: Writing – review & editing.
Declaration of Competing Interest
The authors declare that they have no known competing finan-
cial interests or personal relationships that could have appeared
to influence the work reported in this paper.
Acknowledgment
The work presented in this article was supported by MITWPU,
Pune.
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Further Reading
[1] Third-Generation Shoulder-Supporting Exoskeletons Article by SuitX.
[2] Adaptive pneumatic vibration isolation platform, Faculty of Electrical &
Electronics Engineering, Ton Duc Thang University, 2019.
[3] Design and experimental investigation of ultra-low frequency vibration
isolation during neonatal transport, Hunan University, (2020).
[4] A novel nonlinear mechanical oscillator and its application in vibration
isolation and energy harvesting, University of Jinan, (2021).