In this paper, we study the synthesis of wire flexures to achieve orthogonal motion by using a recently developed screw theory based 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 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 all possible one to five degree of motion 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. We conclude that 18 of them are realizable, 4 are realizable only when their pitches have opposite signs and 12 are not realizable. For each of these 34 cases, we provide an example showing the maximum number of independent wire flexures.
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ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
Realizing Orthogonal Motions With Wire Flexures Connected in Parallel
Hai-Jun Su,
Hai-Jun Su
University of Maryland, Baltimore County, Baltimore, MD
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Hafez Tari
Hafez Tari
University of Maryland, Baltimore County, Baltimore, MD
Search for other works by this author on:
Hai-Jun Su
University of Maryland, Baltimore County, Baltimore, MD
Hafez Tari
University of Maryland, Baltimore County, Baltimore, MD
Paper No:
DETC2010-28517, pp. 503-512; 10 pages
Published Online:
March 8, 2011
Citation
Su, H, & Tari, H. "Realizing Orthogonal Motions With Wire Flexures Connected in Parallel." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 503-512. ASME. https://doi.org/10.1115/DETC2010-28517
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