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.
Design and Modeling of a Large Amplitude Compliant Revolute Joint: The Helical Shape Compliant Joint
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.
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Bruyas, A., Geiskopf, F., and Renaud, P. (August 1, 2015). "Design and Modeling of a Large Amplitude Compliant Revolute Joint: The Helical Shape Compliant Joint." ASME. J. Mech. Des. August 2015; 137(8): 085003. https://doi.org/10.1115/1.4030650
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