Research Papers

Realizing Orthogonal Motions With Wire Flexures Connected in Parallel

[+] Author and Article Information
Hai-Jun Su1

Department of Mechanical Engineering, Virtual Reality and Mechanisms Laboratory, University of Maryland, Baltimore County, Baltimore, MD 21250haijun@umbc.edu

Hafez Tari

Department of Mechanical Engineering, Virtual Reality and Mechanisms Laboratory, University of Maryland, Baltimore County, Baltimore, MD 21250hafez.tari@umbc.edu


Corresponding author.

J. Mech. Des 132(12), 121002 (Nov 23, 2010) (7 pages) doi:10.1115/1.4002837 History: Received April 07, 2010; Revised October 12, 2010; Published November 23, 2010; Online November 23, 2010

In this paper, we study the type synthesis of wire flexures to achieve orthogonal motions by using a recently developed screw theory based design approach. For a given desired mobility pattern, our goal is to find a system of wire flexures that are simply connected in parallel between the functional stage and the ground. It has been shown that a wire flexure is essentially a pure force or a line screw. An n degree-of-freedom (DOF) motion space (allowable motion) is realizable if its reciprocal constraint space can be spanned by 6-n line screws or forces. We first enumerate 34 possible 1–5DOF spaces that are formed by motions along the coordinate axes attached on the functional stage. For each of these 34 motion spaces, we apply the screw theory approach to find its reciprocal force space as well as its rank. At last, a typical design is provided for each of these motion spaces.

Copyright © 2010 by American Society of Mechanical Engineers
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Figure 1

(a) An ideal wire flexure and (b) a kinematically equivalent SS chain

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Figure 2

A functional stage constrained by one or more wire flexures in parallel

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Figure 3

Typical designs for the 18 realizable 1–5DOF motion spaces. The box represents the functional body or motion stage. The cylinders represent wire flexures that are welded to the functional body at one end and to the ground at the other.

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Figure 4

The four motion spaces that can be realized only when their pitches have different signs

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Figure 5

The 12 unrealizable motion spaces in which the maximum number of independent wire flexures are shown. The cases with the cubic stage shown only represent that there does not exist any wire flexures in the design.



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