Global stiffness and natural frequency analysis of distributed compliant mechanisms with embedded actuators with a general-purpose finite element system

Distributed compliant mechanisms with embedded direct-driven actuators are gaining a wide interest in manufacturing systems as well as structural systems. In this paper, we present a modeling approach for analysis of system stiffness and natural frequency behavior of a distributed compliant mechanism with embedded actuators such as lead zirconate titanate (PZT) actuators with a general-purpose finite element system, in particular ANSYS. Use of a general-purpose system has a great practical significance to designers in manufacturing systems. The paper also includes a comparison of the proposed approach with other three approaches in literature to demonstrate the unique feature of the proposed approach. Finally, a particular distributed compliant mechanism with three embedded PZT actuators, which has been used as a part of the cell manipulator system, is analyzed to provide us with some insight of the vibration and stiffness behavior of the system. Such knowledge is important on the control of a distributed compliant manipulator.