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Spatial flexure mechanism analysis: Energy-based geometric stiffness modeling

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b

y

x

α

d

y

z

shuttle

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pu

qu

p

q

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y

x

z

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End-effector

Upper arm

Spherical joint

Lower arm

Actuated revolute joint

Base

x

y

z

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cross-hinge shuttle

rotation axis leaf springs

no stress

max. stress gravity

v0

F0

translational DOF rotational DOF translational constraint rotational constraint

x1

x2

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kguidance F0 kshuttle v0 kleaf kleaf kframe

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leaf springs cross-hinge shuttle

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cross-hinge shuttle

rotation axis leaf springs

no stress

max. stress gravity

v

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no stress max. stress leaf springs shuttle overconstrained exactly constrained dynamically stiffened

exactly constrained angle φprescribed0 is

leaf springs shuttle φ0 x z y

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Parallelogram flexure mechanism

(two leaf springs, one shuttle)

Controllable misalignment

at right base

Custom synthesized elastomer

in parallel with lockable left notch hinge

Two notch hinges

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Referenties

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