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TECHNICAL PAPERS

Design of Large-Displacement Compliant Joints

[+] Author and Article Information
Brian P. Trease

Department of Mechanical Engineering, The University of Michigan, Ann Arbor, MI 48109trease@asme.org

Yong-Mo Moon

Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA 01609moon@wpi.edu

Sridhar Kota

Department of Mechanical Engineering, The University of Michigan, Ann Arbor, MI 48109kota@umich.edu

J. Mech. Des 127(4), 788-798 (Nov 07, 2004) (11 pages) doi:10.1115/1.1900149 History: Received March 06, 2004; Accepted November 07, 2004

This paper investigates the drawbacks of typical flexure connectors and presents several new designs for highly effective, kinematically well-behaved compliant joints. A revolute and a translational compliant joint are proposed, both of which offer great improvements over existing flexures in the qualities of (1) a large range of motion, (2) minimal “axis drift,” (3) increased off-axis stiffness, and (4) a reduced stress-concentrations. Analytic stiffness equations are developed for each joint and parametric computer models are used to verify their superior stiffness properties. A catalog of design charts based on the parametric models is also presented, allowing for rapid sizing of the joints for custom performance. A joint range of motion has been calculated with finite element analysis, including stress concentration effects.

Copyright © 2005 by American Society of Mechanical Engineers
Topics: Motion , Design , Stiffness
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References

Figures

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Figure 1

Proposed compliant joints

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Figure 2

Basic flexible joint components

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Figure 3

Commercial “free-flex” or “cross-spring” joint

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Figure 4

One DOF configuration for translation

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Figure 5

CT joint conceptual designs

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Figure 6

CT joint parameters used in ADAMS model

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Figure 7

Parametric range of motion for aluminum CT joint

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Figure 8

Range of motion of ABS plastic CT joint

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Figure 9

Lateral stiffness of CT joint (thickness=2mm, width=10mm)

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Figure 10

Lateral stiffness of CT joint (width=10mm)

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Figure 11

Lateral stiffness of CT joint (thickness=1mm)

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Figure 12

Kinematic plate configurations

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Figure 13

Cross-type compliant revolute joints

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Figure 14

Cross-section parameters for CR joint

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Figure 15

Computer model of CR joint

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Figure 16

Graphical depiction of CR joint stiffness

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Figure 17

z-rotational stiffness of CR joint (beam length=50mm)

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Figure 18

z-rotational stiffness of CR joint (thickness=1mm)

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Figure 19

y-bending/rotational stiffness of CR joint (width=20mm)

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Figure 20

x-bending stiffness of CR joint (thickness=1mm)

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Figure 21

Stress distribution about a fillet at an interior vertex (stress scale in MPa)

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Figure 22

Range of motion of CR joint

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Figure 23

Modular compliant revolute joints designed for plastic injection molding

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Figure 24

Alternate CR joint conceptual design

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Figure 25

CU joint conceptual design

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Figure 26

CS joint conceptual design

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Figure 27

Cross section of open-cross CR joint

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