A new fully compliant linear-motion mechanism, called the XBob, is presented. The mechanism is based on the pseudo-rigid-body model (PRBM) of a system of Roberts approximate straight-line mechanisms combined in series and parallel. It can be fabricated in a single plane and has a linear force-displacement relationship. Symmetry and compliance compensate for the structural error inherent in the Roberts mechanism, resulting in precise straight-line motion. The device is designed and its motion and force-displacement relations are predicted by the PRBM. The design is validated using finite element analysis and experimental results.
- Design Engineering Division and Computers and Information in Engineering Division
A Novel Fully Compliant Planar Linear-Motion Mechanism
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Hubbard, NB, Wittwer, JW, Kennedy, JA, Wilcox, DL, & Howell, LL. "A Novel Fully Compliant Planar Linear-Motion Mechanism." Proceedings of the ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B. Salt Lake City, Utah, USA. September 28–October 2, 2004. pp. 1-5. ASME. https://doi.org/10.1115/DETC2004-57008
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