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Research Papers

Mechanical-Magnetic Coupling Analysis of a Novel Large Stroke Penta-Stable Mechanism Possessing Multistability Transforming Capability

[+] Author and Article Information
Jian Zhao

State Key Laboratory of Structural Analysis
for Industrial Equipment,
Dalian University of Technology,
Dalian 116024, China
e-mail: zhaojian0403@163.com

Yongcun Zhang

State Key Laboratory of Structural Analysis
for Industrial Equipment,
Dalian University of Technology,
Dalian 116024, China
e-mail: yczhang@dlut.edu.cn

Yu Huang

State Key Laboratory of Structural Analysis
for Industrial Equipment,
Dalian University of Technology,
Dalian 116024, China
e-mail: huagnyu130@aliyun.com

Shutian Liu

State Key Laboratory of Structural Analysis
for Industrial Equipment,
Dalian University of Technology,
Dalian 116024, China
e-mail: stliu@dlut.edu.cn

Guoxi Chen, Renjing Gao

State Key Laboratory of Structural Analysis
for Industrial Equipment,
Dalian University of Technology,
Dalian 116024, China

Yintang Yang

School of Microelectronics,
Xidian University,
Xi'an, Shaanxi 710071, China
e-mail: ytyang@xidian.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received July 13, 2013; final manuscript received December 30, 2013; published online April 3, 2014. Assoc. Editor: Anupam Saxena.

J. Mechanisms Robotics 6(3), 031004 (Apr 03, 2014) (9 pages) Paper No: JMR-13-1131; doi: 10.1115/1.4026630 History: Received July 13, 2013; Revised December 30, 2013

Considering the nonlinear mechanical-magnetic coupling effects, an accurate mathematical model was established for analyzing large stroke penta-stable mechanism possessing multistability transforming capability, with which the mechanism can be switched from pentastability to quadristability. The multistability with any number of stable states can be achieved by integrating spatially arranged magnets and large deformation beams as the fundamental energy storage elements to maintain stable states. By theoretically analyzing the influence of the large mechanical deformation on the magnetic field distribution and system energy, the nonlinear force–displacement characteristics of the multistable mechanism were obtained numerically, which were in good agreement with those obtained by experiments and finite element simulation. Then, an energy-based design criterion for magnetic-mechanical multistable mechanisms was proposed according to the stability theory and energy variation principle. In addition, the multistable transformability was theoretically analyzed, which can transform the proposed mechanism from penta-stability to quadristability by only changing the magnetization direction of moving magnets without varying the structure parameters.

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Figures

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Fig. 1

Penta-stable mechanism

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Fig. 2

Influence of the horizontal displacement Δx on the magnetic force

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Fig. 3

Simplified model of the parallel-guided mechanism formed by two beams

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Fig. 4

The arrangement of the four magnets

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Fig. 5

FEM of the four magnets

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Fig. 6

Magnetic force considering the axial contraction

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Fig. 7

The mechanics of the penta-stable mechanism

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Fig. 8

Total energy of the penta-stable mechanism

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Fig. 9

Comparison between the penta-stable and quadristable mechanisms

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Fig. 10

The mechanics of the quadristable mechanism

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Fig. 11

The penta-stable mechanism

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Fig. 12

Experiment setup for measuring the penta-stable reaction force

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Fig. 13

Comparison between analytical model and experiments

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