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Design Innovation Paper

Design and Modeling of a Large Amplitude Compliant Revolute Joint: The Helical Shape Compliant Joint

[+] Author and Article Information
Arnaud Bruyas

AVR – Icube,
CNRS,
INSA Strasbourg,
University of Strasbourg,
Strasbourg 67081, France
e-mail: a.bruyas@unistra.fr

Francois Geiskopf

AVR – Icube,
CNRS,
INSA Strasbourg,
University of Strasbourg,
Strasbourg 67081, France
e-mail: francois.geiskopf@insa-strasbourg.fr

Pierre Renaud

AVR – Icube,
CNRS,
INSA Strasbourg,
University of Strasbourg,
Strasbourg 67081, France
e-mail: pierre.renaud@insa-strasbourg.fr

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received December 19, 2014; final manuscript received May 4, 2015; published online June 16, 2015. Assoc. Editor: Oscar Altuzarra.

J. Mech. Des 137(8), 085003 (Aug 01, 2015) (8 pages) Paper No: MD-14-1810; doi: 10.1115/1.4030650 History: Received December 19, 2014; Revised May 04, 2015; Online June 16, 2015

In this paper, the design and modeling of a large amplitude compliant revolute joint are introduced. Based on the implementation of multimaterial additive manufacturing (MM-AM), the joint is of interest for robotic contexts where the design of compact and accurate compliant mechanisms is required. The joint design is first experimentally proven to offer a large range of motion and satisfying kinetostatic properties. A parametric study is then conducted using numerical simulation to define the most interesting geometries. An experimental study is in a third step presented to estimate the rotational stiffness, including the manufacturing impact. A stiffness model is provided for relevant geometries, and their use is finally discussed in the context of compliant mechanism design.

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Figures

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Fig. 4

(a) Experimental setup for the evaluation of the value of c66 and (b) close-up on the dedicated specimen

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Fig. 5

Results of the experimental evaluation of the value of c66 over the range of motion

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Fig. 1

Construction of the HSC joint: (a) parameters of the compliant profile, (b) several cross sections of the helical sweep of the profile, (c) helical sweep of the profile over two helices with opposite pitches, and (d) final design of the HSC joint. Mat. A designates a rigid material, and Mat. B an elastomer.

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Fig. 3

Tension (plain lines) and compression (dashed lines) tests performed on the HSC joint to evaluate the value of c11, c22, and c33

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Fig. 2

Prototype of the HSC joint, with an overall length of 20 mm

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Fig. 8

Results of the tests performed on six different geometries. For each of them, the experimental results (curves with crosses) are represented on the diagram with the fitted model (plain curve) and the values of the responses y1, y2, and y3.

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Fig. 6

Experimental result (plain line with dots) and construction of the moment-angle relationship f (plain curve) for a test performed in the middle of the parameter domain (p = 12.5 mm, α = 60 deg)

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Fig. 7

Tests performed to measure the variability induced by the uncontrollable factors. The mean and boundary curves are computed using the mean values and standard deviations of (y1, y2, y3). The other curves represent the models fitted on the experimental data.

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