MAE 294A

Compliant Mechanism Design

Lecture 3: Stiffness and Mass Matrices
Jonathan B. Hopkins, Ph.D.
Assistant Professor
Mechanical and Aerospace Engineering
University of California Los Angeles
www.flexible.seas.ucla.edu
Bernoulli-Euler Beam Stiffness Equations
Stiffness Matrix for Parallel Beam Systems
Mass Matrix for Parallel Beam Systems
Equations of Motion for Parallel Beam Systems
Mode Shapes and Natural Frequencies
Stiffness Matrix for General Beam Systems
Mass Matrix for General Beam Systems
Equations of Motion for General Beam Systems
Beams are the Fundamental Flexure Element

Flexure Blade:
b L

h
Stress and Strain
f
Stress: σ = L
A d
d
Strain: ε =
L σ
Young’s Modulus: E = ε
f
A
σ
σy

E E

ε
Axial Stiffness

L
b
h
E f
d

f = EA d , where A = bh
L
Cross-sectional Area
Axial Force to Axial
Displacement Stiffness
Lateral Force Displacement

L
b f
h
E

d

bh 3
f = 3EI3 d , where I = 12 f = 2EI2 
L L
Bending
Lateral Force to Lateral Moment of Lateral Force to Bending
Displacement Stiffness Inertia Angle Stiffness
Bending Moment Displacement

L
b
h
E

d

bh 3
 = 2EI2 d , where I = 12  =
EI 
L L
Bending
Bending Moment to Lateral Moment of Bending Moment to
Displacement Stiffness Inertia Bending Angle Stiffness
Torsional Moment Displacement

L
b 
h
G = Shear Modulus


As long as b>h:

 GJ  h 3b  192  h  n  1  nb  
= J 1  5    5 tanh  
L 3    b  n 1,3,5 n  2h  
If b<h, swap b and h in
Torsional Stiffness Polar Moment the equation above.
of Inertia
Bernoulli-Euler Beam Stiffness Matrix
Z  C  = compliance matrix
X 

l
0 0 0 
l2
0 

EI x 2 EI x
Y 
 l l2


 x   0 0 0 0   x 
   EI y 2 EI y
  y 
 y  l  
 z   0 0 0 0 0   
GJ  z
   f 
d
 x  l2 l3
0 0 0 0   x
d y   2 EI y 3EI y   fy
l   
l2 l3 f 
d z    0 0 0 0   z
 2 EI x 3EI x 
 l 
 0 0 0 0 0
EA 
bh 3 hb 3 ,
, Iy 
h b where I x 
12 12
A bh , and
3
h b  192  h  n  1 nb  
J 1  5    5 tanh   for b h
3    b  n 1,3,5 n  2h  

 S   C   1 = stiffness matrix
Bernoulli-Euler Beam Stiffness Equations
Stiffness Matrix for Parallel Beam Systems
Mass Matrix for Parallel Beam Systems
Equations of Motion for Parallel Beam Systems
Mode Shapes and Natural Frequencies
Stiffness Matrix for General Beam Systems
Mass Matrix for General Beam Systems
Equations of Motion for General Beam Systems
Recall the Types of Flexure Systems
Parallel System’s Stiffness Matrix
T is a displacement twist. Let’s first find the stiffness matrix of
Z’ n element (1).
3  N (1)  L n1n L n2n L n3n n0 n0 n0 
n1 Y’  1 2 3 1 2 3

n2   y '  z ' d x ' d y ' d z '  T'  N (1)  T

T 1

X’
x'

 x'  y'  z' f x' f y' f z'   S   N 

T
(1) (1)
1
T

 03 x 3   I 3 x 3  
(1) L (3) If      ,
  I 3 x 3   03 x 3  
 f x' f y ' f z '  x '  y '  z ' T    S(1)   N (1)   1 T
(2) Thus the wrench W(1)
imposed on the stage by
Z element (1) as a result of
the stage displacing a
twist T is
     T
W(1)  N (1)    S (1) N (1)
1

X YK (1)   N     S   N 
(1) (1) (1)
1
Parallel System’s Stiffness Matrix
T is a displacement twist.
n3

n1 n2

(1) L (3)
(2)
ZW     
 N ( 2)   S( 2) N ( 2)
1
T
(2)

 N      S   N 
1
W(1) (1) (1) (1) T
X Y
Parallel System’s Stiffness Matrix
T is a displacement twist. Note that  S  changes according
n3 to the geometry and material
n1 properties of the applicable
element.    always stays the
same and  N  changes
n2 according to the location and
orientation of the applicable
element.

(1) (3) L
(2)
    
W(3)  N ( 3)    S( 3) N ( 3)
1
T
ZW  N      S   N 
1
T
(2) ( 2) ( 2) ( 2)

 N      S   N 
1
W(1) (1) (1) (1) T
X Y
Parallel System’s Stiffness Matrix
Note that  S  changes according
to the geometry and material
properties of the applicable
element.    always stays the
same and  N  changes
Thus, when the stage is displaced
according to the location and
a twist T the resulting wrench
orientation of the applicable
vector W imposed on the stage
element.
by all the elements in the parallel
flexure system combined is

       N   S  N    N   S  N  T  K  T
W W(1)  W(2)  W(3)  N (1)    S (1) N (1)
1
( 2) ( 2) ( 2)
1
( 3) ( 3) ( 3)
1

The twist-wrench stiffness matrix     

W(3)  N ( 3)    S( 3) N ( 3)
1
T
of the entire parallel flexure
system is thus  N      S   N 
1
W(2) T
 KTW   K (1)    K ( 2)    K (3) 
( 2) ( 2) ( 2)

 N      S   N 
1
W(1) (1) (1) (1) T
Example
Calculate the stiffness matrix of element (1):
Material Aluminum: E=68GPa, G=25GPa  K   N   S  N 
(1) (1) (1) (1)
1

(1)
Example Solution
Calculate the stiffness matrix of element (1):
Material Aluminum: E=68GPa, G=25GPa  K   N   S  N 
(1) (1) (1) (1)
1


First find N (1) 
L n3
n1 n2 L  0.0975m 0.0975m  0.02m
T

n1  0  1 0
T

n 2 1 0 0
T

n 3  0 0 1
T

Note that n 1 and n 2

(1) don’t necessarily have to
point in the directions
given here. As long as n 3
points into the stage and
n 1 n 2 n 3 the
correct answer will result
for the convention given.
Example Solution
Calculate the stiffness matrix of element (1):
Material Aluminum: E=68GPa, G=25GPa  K   N   S  N 
(1) (1) (1) (1)
1


First find N (1) 
L n3  0 1 0 0 0 0
 0
n1 n2  1 0 0 0 0
 0 0 1 0 0 0
 N   
  0.02m 0 0.0975m 0 1 0
 0  0.02m  0.0975m  1 0 0
 
  0.0975m  0.0975m 0 0 0 1

 0 1 0 0 0 0
(1) 
 1 0 0 0 0 0
 0 0 1 0 0 0
 N   1  
  0.02m 0  0.0975m 0  1 0
 0  0.02m  0.0975m 1 0 0
 
0.0975m  0.0975m 0 0 0 1
Example Solution
Calculate the stiffness matrix of element (1):
Material Aluminum: E=68GPa, G=25GPa  K   N   S  N 
(1) (1) (1) (1)
1

Now find S (1) 

-1
 12l 6l 2 
 4
0 0 0  0 
 Eb Eb 4 
 0 12l 6l 2
0 0 0 
 Eb 4 Eb 4 
 l 
 0 0 0 0 0 
S 
(1) 
6l 2
GJ
4l 3

 0 0 0 0 
 Eb 4 Eb 4 
 6l 2 4l 3 
 4
0 0 0 0 
 Eb Eb 4 
 0 l 
0 0 0 0
 Eb 2 
(1) b = 0.005 m
l = 0.25 m
b 4  192 n  1  n  
J  1  5  5 tanh 
3  n 1,3,5 n  2 
Example Solution
Calculate the stiffness matrix of element (1):
Material Aluminum: E=68GPa, G=25GPa  K   N   S  N 
(1) (1) (1) (1)
1

 0  394.4 N  265.2 N 2720N / m 0 0 

 394.4 N 0 265 .2 N 0 2720N / m 0 
 
 663000N  663000N 0 0 0 6800000N / m
K 
(1) 
64713. 855Nm  64642 .5 Nm 38. 454 Nm 0 394.4 N 663000N

 
  64642.5 Nm 64713.855Nm 38.454Nm  394.4 N 0  663000N 
 
 38.454Nm 38.454Nm 60.5 Nm  265.2 N 265.2 N 0 

We could then follow this same process to find the stiffness matrix of each of the
other elements in the system. We could then add these matrices together to find
the twist-wrench stiffness matrix of the entire parallel system.
 0  1577.6 N 0 10880N / m 0 0 
 1577.6 N 0 0 0 10880N / m 0 
 
 0 0 0 0 0 27200000N / m
 KTW   
 258855.419Nm 0 0 0 1577.6 N 0 
 0 258855.419Nm 0  1577.6 N 0 0 
 
 0 0 242 Nm 0 0 0 
Bernoulli-Euler Beam Stiffness Equations
Stiffness Matrix for Parallel Beam Systems
Mass Matrix for Parallel Beam Systems
Equations of Motion for Parallel Beam Systems
Mode Shapes and Natural Frequencies
Stiffness Matrix for General Beam Systems
Mass Matrix for General Beam Systems
Equations of Motion for General Beam Systems
Parallel System’s Mass Matrix
T is a displacement twist. First find the center of mass of the stage.
uxyz

Center of Mass L
xyz V
L is a 3x1 vector that points from the
origin to the stage’s center of mass
u is a 3x1 vector that points from the
origin to various locations throughout
L the stage. (i.e., u  x y z  )
 is the density of the stage’s material
u V is the total volume of the stage.

X Y
Parallel System’s Mass Matrix
T is a displacement twist. -Now define a new coordinate system

n 3 Z’
located at the stage’s center of mass.

n2 -Align three unit vectors with this system’s

orthogonal axes , n1 n
2 , and n3
X’ n 1 Y’ -Now use the transformation matrix to
calculate the rotations and translations of
the stage about the new coordinate
system.
L  n1
 N  
n2 n3 0 0 0

L n1 L n 2 L n 3 n1 n 2 n 3 
 x'  y '  z ' d x ' d y ' d z '  T'  N (1)  T
T 1

X Y
Parallel System’s Mass Matrix
T is a displacement twist. -Now find the mass moments of inertia
about each of the axes ( I , I y ' , I z ' )
Z’ x'

X’ Y’

X Y
Calculating Mass Moments of Inertia
Suppose we wished to calculate the mass
b moment of inertia about the X-axis, Ix
Z Here u is a vector that is perpendicular
xyz
h to the desired axis of interest.
X Y (i.e., u  0 y z  )

u l  u  u  xyz
I x 
h b l

  y  z 2 xyz
2
I x   2
h
2
b
2
l
  
2 2 2
h b

 y 
2
I x  l  2
h
2
b  z 2 yz
 
2 2
h
 b3 2 
Likewise: I x l    z b z
2
h 
V 2

2  12 
Iy 
12
 l  h2 
 b 3 h bh 3 
I x l   
Iz 
V 2 2
 b l   12 12 
12 V 2
Ix 
12
 b  h2 
where V lbh
Parallel Axis Theorem
Suppose we wished to calculate the mass
b moment of inertia about the Axis , a Ia
Z We could follow the same procedure as
h before:
xyz X Y Again u is a vector that is perpendicular
to the desired axis of interest.
l
 u  u  xyz
I a 

u Or we could simplify the problem by using

the Parallel Axis Theorem:

Axis a

Note Axis ais parallel to the X-axis

Parallel Axis Theorem
Suppose we wished to calculate the mass
b moment of inertia about the Axis , a Ia
Z We could follow the same procedure as
h before:
X Y Again u is a vector that is perpendicular
to the desired axis of interest.
l
 u  u  xyz
I a 
D
Or we could simplify the problem by using
the Parallel Axis Theorem:
I a I x  D 2 ( V )
Where D is the shortest distance
between the parallel axes, aand X
Axis a
Note that for the above equation to be
true, the X-axis must pass through the
stage’s center of mass as shown.
Note Axis ais parallel to the X-axis
Parallel System’s Mass Matrix
T is a displacement twist. -Now find the mass moments of inertia
about each of the axes ( I , I y ' , I z ' )
Z’ V 2
I x'  2
x'
 b h 
h 12
X’ Y’ V 2
I y' 
12
 l  h2 

b l Iz 
'
V 2 2
12
b  l 
-Now construct the following inertia matrix

 In diag  I x ' I y' I z' V V V 

Note that  In is a 6x6

Z matrix of zeros where the

diagonal values are listed in
the vector above.

X Y
Parallel System’s Mass Matrix
T is a displacement twist. Recall that:

n 3 Z’
n1 n2 n3 0 0 0
 N  
n 3 
n2 L n1 L n 2 L n 3 n1 n 2

X’ n 1 Y’   y '  z ' d x ' d y ' d z '  T'  N  T

T 1
x'

If this displacement twist is divided by t

it becomes a normal velocity twist:
  y '  z ' v x ' v y ' v z '  T '  N  T
T 1

L
x'

The derivative of this twist with respect to

time, t , is an acceleration twist:
 x'  y'  z' ax' ay' az '  T  '  N   1 T
T 

X Y
Parallel System’s Mass Matrix
T is a displacement twist.
n 3 Z’
n2  x'  y'  z' f x' f y' f z'   In N 
T 1 
T

X’ n 1 Y’ Recall that
 0 3 x 3 
   
 I3x3  
 I3x3   03 x3   ,
f x' f y' f z '  x'  y'  z '     In N  T
T  1 

L If a parallel system’s
stage accelerates with an
acceleration twist,  1 , the
T
 x'  y'  z' a x ' a y ' a z '  T'  N  T
T 
net wrench vector, W,
 

imposed on the stage is

Z W  N    In N  T
 1 

The twist-wrench mass matrix of

the parallel flexure system is thus
X  M TW   N   In N   1
Y
Example
Calculate the twist-wrench mass matrix of this system:  M TW   N   In N   1
Material Aluminum:  = 2698.9 kg/m3
Example Solution
Calculate the twist-wrench mass matrix of this system:       
M TW  N  In N
1

Material Aluminum:  = 2698.9 kg/m3

First find the center of mass of the
stage. There are two parts of the
stage (1) and (2). Since we already
know that the centers of mass of
(1) each of these rectangular parts are
L =7.8cm at their center, we can use this
knowledge to find the center of mass
of the entire stage. The center of
(2) mass of part (1) is
u (1)  0 0 - 0.01m
The center of mass of part (2) is
u (2)  0 0 - 0.12m
Thus the center of mass of the entire
stage is
V(1)u (1)  V( 2 )u (2)
L  0 0  0.07769m
 V(1)  V( 2 ) 
Example Solution
Calculate the twist-wrench mass matrix of this system:  M TW   N   In N   1
Material Aluminum:  = 2698.9 kg/m3

-Now define a new coordinate system

located at the stage’s center of mass.

-Align three unit vectors with this system’s

Z
n3
’
Y ’ orthogonal axes , n1 n
2 , and n3
n 2
n1 1 0 0
n X’
1
n 2  0 1 0
n 3  0 0 1
-Now use the transformation matrix to
calculate the rotations and translations of
the stage about the new coordinate
system.
 1 0 0 0 0 0  1 0 0 0 0 0
  0 0 0 0
 0 1 0 0 0 0  0 1
 0 0 1 0 0 0  0 0 1 0 0 0
 N     N   1  
 0 0.07769m 0 1 0 0  0  0. 07769m 0 1 0 0
  0.07769m 0 0 0 1 0 0.07769m 0 0 0 1 0
   
 0 0 0 0 0 1  0 0 0 0 0 1
Example Solution
Calculate the twist-wrench mass matrix of this system:


M TW  N  In      N   1
Material Aluminum: = 2698.9 kg/m 3

-Now calculate the inertia matrix,  In

Stage (1)
To calculate I x ' determine the shortest
center of
mass Z(1) Y(1) distance d (1) between the center of
(1)
X(1) mass of the stage and the center of
mass of part (1)
d (1) Z’ Y’ d (1) 0.06769m
d ( 2) Z(2) Y X’ Also determine the shortest distance
(2) between the center of mass of the stage
X(2) and the center of mass of part (2)
Stage (2) d ( 2 ) 0.04231m
center of
mass (2)   
I x '  I x(1)  d (21) V(1)  I x( 2 )  d (22) V( 2 ) 
Likewise
I y'  I  d
y (1 )
2
(1) V(1)   I y( 2 )  d (22) V( 2 ) 
I z '  I z (1)  I z ( 2 )
Example Solution
Calculate the twist-wrench mass matrix of this system:


M TW  N  In      N   1
Material Aluminum: = 2698.9 kg/m 3

b
b -Now calculate the inertia matrix,  In
V(1) 2 V( 2) 2 2
Z(1) Y(1) I x(1)   b  h2  I x( 2 )   e l 
(1) 12 12
h X(1) V(1) 2 V( 2) 2 2
Z’ Y’ I y (1) 
12
 b  h2  I y( 2 ) 
12
 e l 

Z(2) Y X’ I z (1 ) 
V(1) 2
 b  I z( 2 ) 
V( 2) 2
 e 
l (2) 6 6
X(2) 2
where V(1) hb and V( 2 ) le
2

(2)   
I x '  I x(1)  d (21) V(1)  I x( 2 )  d (22) V( 2 ) 
e Likewise
e
I y'  I  d
y (1 )
2
(1) V(1)   I y( 2 )  d (22) V( 2 ) 
I z '  I z (1)  I z ( 2 )
Example Solution
Calculate the twist-wrench mass matrix of this system:  M TW   N   In N   1
Material Aluminum:  = 2698.9 kg/m3
b  In diag I I y' I z'  V(1)  V( 2)   V(1)  V( 2)   V(1)  V( 2)  
b x '

V V( 2)
Z
0.03670kgm2
(1)
Y (1)0 0I  0b  h  0 I
(1) 2 2
 0 e2  l 2  
 (1) x(1)
12
x( 2 )
12 
h  0 0 . X
03670
(1)
2
kgm 0
V
0 0 0
V( 2) 2 2
 0 Z’ 0’ 0.01808 kgm
I  0b  h  0 I
2 (1) 2 2
 0 e  l  
 In 
 0 Y0 0
y (1)
12
5.61371kg 0
y( 2 )
12
0 
 0Z X
0 ’ 0I V 0
  5.61371Ikg (1) 2
V( 2) 
 0 e2  
l
 0
(2) Y(2)0 0

z (1 )
6 0
b
0
z( 2 )
6 kg 
5.61371
X(2) where V hb and V (1)
2
( 2) le 2

(2)   
I x '  I x(1)  d (21) V(1)  I x( 2 )  d (22) V( 2 ) 
e Likewise
e
I y'  I  d y (1 )
2
(1) V(1)   I y( 2 )  d (22) V( 2 ) 
I z '  I z (1)  I z ( 2 )
Example Solution
Calculate the twist-wrench mass matrix of this system:  M TW   N   In N   1
Material Aluminum:  = 2698.9 kg/m3

0.03670kgm 2 0 0 0 0 0 
 
 0 0.03670kgm 2 0 0 0 0 
 0 0 0.01808kgm 2 0 0 0 
 In  
 0 0 0 5.61371kg 0 0 
 0 0 0 0 5.61371kg 0 
 
 0 0 0 0 0 5.61371kg 

 0  0.4361kgm 0 5.6137kg 0 0 
 0.4361kgm 0 0 0 5.6137kg 0 
 
 0 0 0 0 0 5.6137kg 
 M TW   2 
 0.0706 kgm 0 0 0 0.4361kgm 0 
 0 0.0706kgm 2 0  0.4361kgm 0 0 
 
 0 0 0.0181kgm 2 0 0 0 
Bernoulli-Euler Beam Stiffness Equations
Stiffness Matrix for Parallel Beam Systems
Mass Matrix for Parallel Beam Systems
Equations of Motion for Parallel Beam Systems
Mode Shapes and Natural Frequencies
Stiffness Matrix for General Beam Systems
Mass Matrix for General Beam Systems
Equations of Motion for General Beam Systems
Traditional Equation of Motion

x f f  kx mx
m f mx  kx

k Note that this equation

neglects the effects of
damping
Equation of Motion for a General Parallel Systems

T is the resulting W is a wrench vector

displacement twist. imposed on the stage.

 M TW  W   K TW  T  M TW  T


W  M TW  T
   K  T
TW

 KTW  Note that this equation

Z also neglects the
effects of damping

X Y
Bernoulli-Euler Beam Stiffness Equations
Stiffness Matrix for Parallel Beam Systems
Mass Matrix for Parallel Beam Systems
Equations of Motion for Parallel Beam Systems
Mode Shapes and Natural Frequencies
Stiffness Matrix for General Beam Systems
Mass Matrix for General Beam Systems
Equations of Motion for General Beam Systems
Traditional Natural Frequency

x f f mx  kx 0
x  A cos wt
m
Try this solution

2
 mw A cos wt  kA cos wt 0
k  mw  A cos wt 0
2

k k  mw  0
Thus
2

k
Natural Frequency: w
m
Twist Natural Frequencies and Mode Shapes
T is the resulting W is a wrench vector
displacement twist. imposed on the stage.

 M TW  W  M TW  T
   K  T [06 x1 ]
TW

Try this solution

T  A cos wt  x   y  z d x d y d z 
T

 K   w  M  T  0 
TW
2
TW 6 x1

 M TW   1  K TW   
w 2  M TW  T  M TW 
1
 0 6 x1 
 KTW   M TW  1
 K TW   w 2
 I 6 x 6  T  0 6 x1 
Z  M TW   1 KTW  T w2T

X Y
Review of Eigen Vectors and Values
 
An Eigen vector of an mxm matrix Amxm is an mx1vector x that when
multiplied by the matrix equals the same vector multiplied by a scalar value  .
This value is one of the matrix’s Eigen values.

 Amxm  x x
To calculate all the matrix’s Eigen vectors and their corresponding Eigen values find

  Amxm     I mxm   x  0mx1 

Then calculate all the  values that make the following determinant equal to zero

det   Amxm     I mxm   0

There will be m of these Eigen values. Once all of these values have been found,
plug each into the following matrix and find its corresponding null space.

  Amxm     I mxm  
The vector that results as the null space of this matrix for a given Eigen value will be
the corresponding Eigen vector x desired. Again there will be m Eigen vectors.
Twist Natural Frequencies and Mode Shapes
T is the resulting W is a wrench vector
displacement twist. imposed on the stage.

 M TW  W  M TW  T
   K  T [06 x1 ]
TW

Try this solution

T  A cos wt  x   y  z d x d y d z 
T

 K   w  M  T  0 
TW
2
TW 6 x1

 M TW   1  K TW   
w 2  M TW  T  M TW 
1
 0 6 x1 
 KTW   M TW  1
 K TW   w 2
 I 6 x 6  T  0 6 x1 
Z  M TW   1 KTW  T w2T
 Amxm  x x
X Y
Twist Natural Frequencies and Mode Shapes
T is the resulting W is a wrench vector
displacement twist. imposed on the stage.
 A6 x 6   M TW   1  K TW 
 M TW  x T
 w 2
Thus the natural frequencies of a parallel
flexure system are the square roots of the
Eigen values of  M TW   K TW  . Their
1

corresponding Eigen vectors are the mode

 KTW  shapes.

Z  M TW   1 KTW  T w2T
 Amxm  x x
X Y
Example
Calculate the six mode shapes and their corresponding
natural frequencies of this parallel flexure system:
Material Aluminum:  = 2698.9 kg/m3
Example Solution
Calculate the six mode shapes and their corresponding
natural frequencies of this parallel flexure system:
Material Aluminum:  = 2698.9 kg/m3
In past examples the following two matrices were calculated for this system
 0  1577.6 N 0 10880 N / m 0 0 
 1577.6 N 0 0 0 10880 N / m 0 
 
 0 0 0 0 0 27200000N / m 
 KTW   
 258855.419Nm 0 0 0 1577.6 N 0 
 0 258855.419Nm 0  1577.6 N 0 0 
 
 0 0 242 Nm 0 0 0 
 0  0.4361kgm 0 5.6137kg 0 0 
 0.4361kgm 0 0 0 5.6137kg 0 
 
 0 0 0 0 0 5.6137kg 
 M TW   2 
 0.0706 kgm 0 0 0 0.4361kgm 0 
 0 0.0706kgm 2 0  0.4361kgm 0 0 
 
 0 0 0.0181kgm 2 0 0 0 
 Example Solution
Calculate the six mode shapes and their corresponding
natural frequencies of this parallel flexure system:
Material Aluminum:  = 2698.9 kg/m3
Use these matrices to find the Eigen vectors and values of  M TW   KTW 
1

To do this, type the following into Matlab: [ EigenVecto rs, EigenValue s ] eig  inv M  * K 
where M  M TW  and K  K TW 

Each column of [EigenVectors] is one of the six Eigen vectors (i.e. mode shapes):
0.9970rad  0.0028rad 0 0 0 0
 0 0 0.9970rad 0.0028rad 0 0
 
 0 0 0 0 1rad 0
 EigenVectors  
 0 0 0.0774m 1m 0 0
  0.0774m 1m 0 0 0 0
 
 0 0 0 0 0 1m
The corresponding Eigen values are also given:
 EigenValues diag( 7047636.335rad 2 / s 2 1937.742rad 2 / s 2 7047636.335rad 2 / s 2 1937.742rad 2 / s 2 13385.687rad 2 / s 2 
4845278.846rad 2 / s 2 )

The corresponding natural frequencies are the square roots of these values:
 w diag( 2654.738rad / s 44.020rad / s 2654.738rad / s 44.020rad / s 115 .697 rad / s 2201.199rad / s  )
Example Solution

0.9970rad  0.0028rad 0 0 0 0
 0 0 0.9970rad 0.0028rad 0 0 

 0 0 0 0 1rad 0 
 EigenVectors  
 0 0 0.0774m 1m 0 0
  0.0774m 1m 0 0 0 0
 
 0 0 0 0 0 1m

 w diag( 2654.738rad / s 44.020rad / s 2654.738rad / s 44.020rad / s 115 .697 rad / s 2201.199rad / s  )

Example Solution
0.9970rad  0.0028rad 0 0 0 0
 0 0 0.9970rad 0.0028rad 0 0 

 0 0 0 0 1rad 0 
 EigenVectors   
 0 0 0.0774m 1m 0 0
  0.0774m 1m 0 0 0 0
 
 0 0 0 0 0 1m

 w diag( 2654.738rad / s 44.020rad / s 2654.738rad / s 44.020rad / s 115 .697 rad / s 2201.199rad / s  )

Note that three of the natural frequencies are significantly less than the other three.
There corresponding Eigen vectors or mode shapes represent the system’s DOFs.
Decompose these twists so that their lines of motion may be visualized.

c  0 0  357.143m c  0 0  357.143m c  0 0 0
T T T

δθ   0.0028rad 0 0 δθ  0 0.0028rad 0 δθ  0 0 1rad 

T T T

p 0 p 0 p 0
Example Solution
Z Y Z Y Z Y
X X X
35,714.3cm

35,714.3cm
29cm

115.7 rad/s
c  0 0  357.143m c  0 0  357.143m c  0 0 0
T T T

δθ   0.0028rad 0 0 δθ  0 0.0028rad 0 δθ  0 0 1rad 

T T T

p 0 44.02 rad/s p 0 44.02 rad/s p 0

Bernoulli-Euler Beam Stiffness Equations
Stiffness Matrix for Parallel Beam Systems
Mass Matrix for Parallel Beam Systems
Equations of Motion for Parallel Beam Systems
Mode Shapes and Natural Frequencies
Stiffness Matrix for General Beam Systems
Mass Matrix for General Beam Systems
Equations of Motion for General Beam Systems
Recall the Types of Flexure Systems
Traditional Spring Systems
Springs in Parallel

f x
f  k1 x  k 2 x  k 3 x
k1 k2 k3 f  k1  k2  k3  x
Traditional Spring Systems
Springs in Parallel

f x
f  k1 x  k 2 x  k 3 x
kequivalent f  k1  k2  k3  x
k equivalent  k1  k 2  k3 
Traditional Spring Systems

f x Springs in Series

f f f
x  
k1 k1 k 2 k 3

1 1 1
x     f
k2  k1 k 2 k3 

k3
Traditional Spring Systems

f x Springs in Series

f f f
x  
k1 k 2 k 3

1 1 1
kequivalent x     f
 k1 k 2 k3 
1
k equivalent 
1 1 1
   
 k1 k 2 k 3 
Example
Find the equivalent stiffness of the stage below (i.e., kequivalent )

Stage Stage
k3 k5 k6
k7 kequivalent

k1 k2 k4
Example Solution
kequivalent )
Find the equivalent stiffness of the stage below (i.e.,

k equivalent  k1  k 2   k 3    k 5  k 6   k 4   k 7
1 1 1 1
1 1

Stage Stage
k3 k5 k6
k7 kequivalent

k1 k2 k4
 Equivalent Stiffness Matrix for General Flexure System

Now consider a general hybrid flexure system that is arranged similarly to the
traditional spring system of the last example.
Suppose we wished to calculate the
Stage stiffness matrix of element (1), K (1) .  

(3)
Recall:  K   N   S  N 
(1) (1) (1) (1)
1

(5) (6)
 
To construct N (1) we need L and
n3 (7) n 1 , n 2 , and n 3 vectors.
n1
L But which end do we use?
n2

(1) (2) (4) Z We could use either end.

Just make sure n 3 points
L
into the body and that the
n2
n1 X Y right-hand rule is satisfied
n3 with n 1 , n 2 , and n 3 .
Equivalent Stiffness Matrix for General Flexure System

Now consider a general hybrid flexure system that is arranged similarly to the
traditional spring system of the last example.
W Once we have calculated the
stiffness matrices of every
T Stage element, we may use the same
rules as traditional springs to
calculate the equivalent stiffness
(3) (6) matrix of the stage. The only
(5) difference is that we use matrices
instead of scalar values for
(7) stiffness.

K equivalent   K    K     K  
(1) ( 2)
1
( 3)
1 1


(1) (2) (4) Z   K    K     K     K 

( 5) ( 6)
1
( 4)
1 1
(7)

X Y 
W  K equivalent T 
Interconnected Hybrid Systems
Recall this system.
If spring (8) is added to the system such that it connects the two intermediate
rigid bodies shown, can you find the stage’s equivalent stiffness?

Stage The stage’s equivalent

stiffness is not

k3 k5 k6
possible to find using
the approach

k8 previously provided
because the springs

k7 can no longer be
broken down into
combinations of

k1 k2 k4 parallel and serial

configurations. A new
approach must
therefore be used.
General Twist-Wrench Stiffness Matrix
T3 W3
Note that element (8) was added

If there are b rigid bodies (not

Stage
B3 including the ground G), there
will be a 6bx6b twist-wrench
stiffness matrix  K TW  that
T1 (3) W1 T2 defines the stiffness of the
(5) (6) (7) entire system according to

(8) B2 W2 W T
W2T  WbT   K   T
T T
T2T  TbT  T

B1
1 TW 1

In this example b=3.

Constructing this stiffness matrix
(1) (2) (4) Z is a function of the locations,
orientations, geometries, and
material properties of every
X Y compliant element in the system.
G The procedure for any general
system is found in:
Hopkins, J.B., Lange, K.J., Spadaccini, C.M., 2013, “Designing Microstructural Architectures with Thermally Actuated
Properties Using Freedom, Actuation, and Constraint Topologies,” Journal of Mechanical Design, 135(6): 061004.
Example
Suppose I gave you the twist-wrench
W3 stiffness matrix  K TW  of this system
and asked you to calculate the
Stage
B3 displacement twist response of rigid
body B1 to a pure moment imposed on
body B3 in the direction of the Z-axis
T1 (3)
(5) (6) (7) as shown. The magnitude of this
moment is 1Nm.

B1 (8) B2

(1) (2) (4) Z

X Y
G
Example Solution
Suppose I gave you the twist-wrench
W3 stiffness matrix  K TW  of this system
and asked you to calculate the
Stage
B3 displacement twist response of rigid
body B1 to a pure moment imposed on
body B3 in the direction of the Z-axis
T1 (3)
(5) (6) (7) as shown. The magnitude of this
moment is 1Nm.
 0 
B1 (8) B2 
1 0 

T T
1 T2T T3T  T
 K TW 
  
 
1Nm
(1) (2) (4) Z   18 x1

The first six components of

X Y the resulting vector is T1
G
Bernoulli-Euler Beam Stiffness Equations
Stiffness Matrix for Parallel Beam Systems
Mass Matrix for Parallel Beam Systems
Equations of Motion for Parallel Beam Systems
Mode Shapes and Natural Frequencies
Stiffness Matrix for General Beam Systems
Mass Matrix for General Beam Systems
Equations of Motion for General Beam Systems
General Twist-Wrench Mass Matrix
To find any flexure system’s 6bx6b twist-wrench mass matrix  M TW  , find the 6x6
mass matrices of each individual rigid body first: M  M (1)
… M  ( 2)   (b ) 
Stage This is done by calculating the mass and
B3 center of mass of each rigid body. Then
determine three orthogonal axes that
intersect at the body’s center of mass and
(3) (6) calculate the body’s moments of inertia
(5) about those three axes. Then use this
information to construct each matrix as

B1 B2 (7) discussed in previous sections. Using

these matrices the general system’s twist-
wrench mass matrix may be found:

(1) (2) Z 
 M (1)  0  0  0  6 x6 6 x6 6 x6
(4) 
0   M   0   0  
 M TW   6 x 6 ( 2) 6 x6 6 x6
 0   06 x6   06 x6  
X Y  6 x6


 0 6 x 6   M (b )  
  0 6 x 6   06 x6 
G For this example b=3
Bernoulli-Euler Beam Stiffness Equations
Stiffness Matrix for Parallel Beam Systems
Mass Matrix for Parallel Beam Systems
Equations of Motion for Parallel Beam Systems
Mode Shapes and Natural Frequencies
Stiffness Matrix for General Beam Systems
Mass Matrix for General Beam Systems
Equations of Motion for General Beam Systems
Equations of Motion for Any Flexure System
 W1  T   T1 
T3 W3 W 
1
  
T
T 
 2   M   2    K   2 
TW TW
Stage      
B3  
W
 b
  
 T b 
 
Tb 

T1 (3) W1 T2
(5) (6) (7)  W1   T1 
W  T 
 2   K   w2  M   2 
(8) B2 W2   TW TW
 
B1  
W
 
 b Tb 

(1) (2) (4) Z Thus the natural frequencies of any

flexure system are the square roots
of the Eigen values of  M TW   K TW  .
1

X Y Their corresponding Eigen

vectors are the mode shapes.
G Note that there are always 6b mode
shapes and natural frequencies.